Linear Positional and Speed Control of Servo Carts Using Inverse Dynamic Control

Dynamic inverse- (DI-) based control technique has been utilized in many applications and proven to be effective. Recently, the inverse dynamic control (IDC), an expansion to the classical DI technique, has been trending with implementation in many areas. It has been proved that IDC is capable of overcoming some limitations in DI-based techniques, particularly in cancellation of useful nonlinearities. This paper extends the implementation of IDC on the positional and speed control of the linear servo cart system. Simulation results further proves that IDC is an effective and robust controller evidently when comparing it with the proportional velocity and lead compensator controller.

Robust Fixed-Time Inverse Dynamic Control for Uncertain Robot Manipulator System

This paper proposes a novel robust fixed-time control for the robot manipulator system with uncertainties. Based on the uniform robust exact differentiator (URED) algorithm, a robust control term is constructed. Then, a robust fixed-time inverse dynamics control (IDC) is proposed. For the proposed control method, the fixed-time stability of a closed-loop system with uncertainties is strictly proved. The newly proposed method exhibits the following two attractive features. First, the proposed control scheme extends the existing fixed-time IDC for the robot manipulator system to the robust control scheme. Second, the proposed method is strictly nonsingular rather than the commonly used approximate approach. Simulation result demonstrates the effectiveness of the proposed control scheme.

A note on the inverse dynamic control of parallel manipulators

This work proposes a simple technique for inverse dynamics control of parallel mani-pulators in a joint space. In this technique, there is no need for forward kinematics, which is exacerbated by no closed-form solution for many parallel manipulators. A set of simulations is introduced to signify the validity of the proposed control technique compared with full joint feedback control.