An experimental comparison of robust control algorithms on a direct drive manipulator

1996 ◽  
Vol 4 (6) ◽  
pp. 627-640 ◽  
Author(s):  
A. Jaritz ◽  
M.W. Spong
Keyword(s):  
Robust Control ◽  
Experimental Comparison ◽  
Control Algorithms ◽  
Direct Drive

scholarly journals Nonlinear robust control of large-scale system with input saturation

2021 ◽  
pp. 13-21
Author(s):  
Eugenie L. Eremin ◽  
Larisa V. Nikiforova ◽  
Evgeniy A. Shelenok
Keyword(s):  
Robust Control ◽  
Large Scale ◽  
Input Saturation ◽  
Control Algorithms ◽  
Control Law ◽  
Multiply Connected ◽  
Robust Control System ◽  
Control Saturation ◽  
Decentralized Robust Control ◽  
Nonlinear Robust

The article studies control algorithms of multiply connected system for dynamic plants with control saturation and nonlinear cross-connections. The authors of the article offer a decentralized control law based on the hyperstability criterion. They also use this law to constuct the MIMO servo system with input saturation. To illustrate the capability of the proposed decentralized robust control system the authors use an inverted pendulums connected by a spring.

DESIGN AND ANALYSIS OF SUPER TWISTING SLIDING MODE CONTROL FOR MACHINE TOOLS

2016 ◽  
Vol 78 (10-3) ◽  
Author(s):  
Chiew Tsung Heng ◽  
Zamberi Jamaludin ◽  
Ahmad Yusairi Bani Hashim ◽  
Nur Aidawaty Rafan ◽  
Lokman Abdullah ◽  
...  
Keyword(s):  
Machine Tools ◽  
Sliding Mode ◽  
Tracking Error ◽  
Control Algorithms ◽  
Sliding Mode Controller ◽  
Control Input ◽  
Positioning System ◽  
Direct Drive ◽  
Chattering Effect

High demands of precision on machine tools are hardly cope by using existing classic control algorithms. This paper focuses on the design, analysis and validation of a super twisting sliding mode controller on a single axis direct drive positioning system for improved tracking performances. The second order positioning system parameters were determined using input and output of measured data. Effects of two gain parameters in control algorithm on the quality of the control input and tracking error were analysed experimentally. The gain parameters were selected based on magnitude reduction in chattering during practical application. The performance of tuned super twisting sliding mode controller was compared with a traditional sliding mode controller using sigmoid-like function. Results showed that super twisting sliding mode controller reduced the chattering effect and improved the performance of system in terms of tracking error by 16.5%.  

On robust control algorithms for nonlinear network consensus protocols

2009 ◽  
Vol 20 (3) ◽  
pp. 269-284 ◽  
Author(s):  
Qing Hui ◽  
Wassim M. Haddad ◽  
Sanjay P. Bhat
Keyword(s):  
Robust Control ◽  
Control Algorithms ◽  
Nonlinear Network

Control of A Friction Launch Automatic Transmission Using a Range Clutch

2006 ◽  
Author(s):  
Chunhao J. Lee ◽  
Kumar Hebbale ◽  
Shushan Bai ◽  
Farzad Samie
Keyword(s):  
Robust Control ◽  
Fuel Economy ◽  
Control Strategy ◽  
Automatic Transmission ◽  
Torque Converter ◽  
Control Algorithms ◽  
Automatic Transmissions ◽  
Fuel Economy Improvement ◽  
Vehicle Test ◽  
Overall Ratio

Friction Launch transmissions use a wet multi-plate clutch to replace the torque converter in an automatic transmission. The main benefit of this technology is fuel economy improvement as a result of eliminating the losses in the torque converter. By using one of the range clutches inside the transmission instead of an input clutch in place of the converter, the benefits of this integrated friction launch technology, such as reduction in mass, packaging, and cost, can be enhanced. The availability of new automatic transmissions with higher number of speeds and wider overall ratio spreads makes this technology more viable than ever before. This project focuses on control issues with the friction launch clutch which include developing robust control algorithms for launch and creep, and providing damping to the driveline, when required, and ensuring acceptable vehicle drivability. This paper describes in detail the development of vehicle launch control algorithms. Vehicle test data is presented to show that the control strategy developed in this project significantly reduces the gap between the drivability of a starting clutch vehicle and a torque converter equipped vehicle.

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