scholarly journals On dynamic feedback linearization of four-dimensional affine control systems with two inputs

1997 ◽  
Vol 2 ◽  
pp. 151-230 ◽  
Author(s):  
J.-B. Pomet
Keyword(s):  
Control Systems ◽  
Feedback Linearization ◽  
Dynamic Feedback ◽  
Affine Control Systems

Dynamic Feedback Linearization for Electrohydraulically Actuated Control Systems

1995 ◽  
Vol 117 (4) ◽  
pp. 468-477 ◽  
Author(s):  
Gholamreza Vossoughi ◽  
Max Donath
Keyword(s):  
Control Systems ◽  
Feedback Linearization ◽  
Operating Conditions ◽  
Control Law ◽  
Dynamic Feedback ◽  
Uncertainty Model ◽  
Rotational Joint ◽  
Linearized System ◽  
Linear Controllers ◽  
Robust Control Systems

Using the dynamic inversion principal, a globally linearizing feedback control law is developed for an electrohydraulic servo system. The proposed control law is implemented on a rotational joint driven by a linear actuator. The results from experiments indicate that better uniformity of response is achieved across a wider range of operating conditions than would otherwise be possible. Improved symmetry is obtained for the extension and retraction phases of motion for an asymmetric actuator under various loading conditions and actuator positions. As a result of the improvements in linearity, significantly better performance is achieved when using linear controllers. To incorporate the effects of parametric uncertainties on the feedback linearization, a state space linear fractional representation of the parametrically uncertain linearized system is also developed. This uncertainty model is specifically suited for the design of robust control systems using the μ-synthesis and H∞ based approach.

A Dynamic Simulation Model of Industrial Robots for Energy Examination Purpose

2015 ◽  
Vol 805 ◽  
pp. 223-230 ◽  
Author(s):  
Paryanto ◽  
Alexander Hetzner ◽  
Matthias Brossog ◽  
Jörg Franke
Keyword(s):  
Energy Consumption ◽  
Control Systems ◽  
Feedback Linearization ◽  
Coulomb Friction ◽  
State Of The Art ◽  
Industrial Robot ◽  
Motor Drives ◽  
Industrial Robots ◽  
Dynamic Simulation Model ◽  
Linear Damping

In this paper, a modular dynamic model of an industrial robot (IR) for predicting and analyzing its energy consumption is developed. The model consists of control systems, which include a state-of-the-art feedback linearization controller, permanent magnet synchronous drives and the mechanical structure with Coulomb friction and linear damping. By using the developed model, a detailed analysis of the influence of different parameter sets on the energy consumption and loss energy of IRs is investigated. The investigation results show that the operating parameters, robot motor drives, and mechanical damping and elasticity of robot transmissions have a significant effect on the energy consumption and accuracy of IRs. However, these parameters are not independent, but rather interrelated. For example, a higher acceleration and velocity shortens IRs’ operating periods, but needs a greater motor current, tends to excite vibrations to a greater extent, and thus produces a higher amount of loss energy.

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