An inverse dynamics sliding control technique for flexible multi-link manipulators

1997 ◽  
Author(s):  
M. Moallem ◽  
K. Khorasani ◽  
R.V. Patel
Keyword(s):  
Inverse Dynamics ◽  
Control Technique ◽  
Sliding Control

Learning Control of a High-Speed Cam Dynamic System in the Presence of Viscous Damping and Coulomb Friction Theory and Experiment

1998 ◽  
Author(s):  
Meng-Sang Chew ◽  
Theeraphong Wongratanaphisan ◽  
Yi-Chen Lu
Keyword(s):  
Dynamic System ◽  
Coulomb Friction ◽  
High Speed ◽  
Explicit Knowledge ◽  
Inverse Dynamics ◽  
Learning Control ◽  
Control Technique ◽  
Viscous Damping ◽  
Highly Nonlinear ◽  
Cam Follower

Abstract This paper introduces the application of learning control theory to the intelligent control of an electromechanical cam-follower system. Learning control has been shown to handle inverse kinematics and inverse dynamics problems very well. It is a technique that can be applied to systems that perform repetitive tasks in order to reduce the errors that occur between the actual output and the desired output. Here, learning control is applied to a dynamic system containing nonlinear kinematics elements such as a cam. The learning process is based on output errors alone. It does not require explicit knowledge of the physical system. The presence of viscous damping and Coulomb friction both simplifies and challenges the learning control technique in compensating for such highly nonlinear dissipative effects within the cam-follower system. Results are presented based on the simulations of the system as well as the experiment. This study shows that learning control is capable of compensating for nonlinear Coulomb friction, that frequency occurs in the joints of many real world mechanisms.

Control of Redundant Mechanical Systems Under Equality and Inequality Constraints on Both Input and Constraint Forces

2011 ◽  
Vol 6 (3) ◽  
Author(s):  
Farhad Aghili
Keyword(s):  
Inverse Dynamics ◽  
Null Space ◽  
Inequality Constraints ◽  
Control Technique ◽  
Orthogonal Complement ◽  
Control Input ◽  
Constraint Forces ◽  
Constraint Force ◽  
Closed Loops ◽  
Equality And Inequality Constraints

The equality and inequality constraints on constraint force and/or the actuator force/torque arise in several robotic applications, for which different controllers have been specifically developed. This paper presents a unified approach to control a rather general class of robotic systems with closed loops under a set of linear equality and inequality constraints using the notion of projection operator. The controller does not require the kinematic constraints to be independent, i.e., systems with time-varying topology can be dealt with, while demanding minimum-norm actuation force or torque in the case that the system becomes redundant. The orthogonal decomposition of the control input force yields the null-space component and its orthogonal complement. The null-space component is obtained using the projected inverse dynamics control law, while the orthogonal complement component is found through solving a quadratic programming problem, in which the equality and inequality constraints are derived to be equivalent to the originally specified ones. Finally, a case study is presented to demonstrate how the control technique can be applied to multi-arms manipulation of an object.

High-Gain Observer-Based Neural Adaptive Feedback Linearizing Control of a Team of Wheeled Mobile Robots

Robotica ◽  
2019 ◽  
Vol 38 (1) ◽  
pp. 69-87 ◽  
Author(s):  
Neda Sarrafan ◽  
Khoshnam Shojaei
Keyword(s):  
Mobile Robots ◽  
Inverse Dynamics ◽  
Actuator Saturation ◽  
High Gain ◽  
Control Technique ◽  
Wheeled Mobile Robots ◽  
Tracking Errors ◽  
High Gain Observer ◽  
The Neural Network ◽  
Adaptive Laws

SummaryThis paper addresses the neural network (NN) output feedback formation tracking control of nonholonomic wheeled mobile robots (WMRs) with limited voltage input. A desired formation is achieved based on the leader–follower strategy utilizing hyperbolic tangent saturation functions to reduce the risk of actuator saturation. The controller is developed by incorporating the high-gain observer and radial basis function (RBF) NNs using the inverse dynamics control technique. The high-gain observer is introduced to estimate velocities of the followers. The RBF NN preserves the robustness of the proposed controller against uncertain nonlinearities. The adaptive laws are also combined by a robust control term to estimate the weights of RBF NN, approximation errors, and bounds of unknown time-variant environmental disturbances. A Lyapunov-based stability analysis proves that all signals of the closed-loop system are bounded, and tracking errors are uniformly ultimately bounded. Finally, some simulations are carried out to show the effectiveness of the proposed controller for a number of WMRs.

A note on the inverse dynamic control of parallel manipulators

2009 ◽  
Vol 224 (1) ◽  
pp. 25-32 ◽  
Author(s):  
A Omran ◽  
M Elshabasy
Keyword(s):  
Inverse Dynamics ◽  
Dynamic Control ◽  
Closed Form Solution ◽  
Parallel Manipulators ◽  
Joint Space ◽  
Form Solution ◽  
Control Technique ◽  
Inverse Dynamic ◽  
Inverse Dynamics Control ◽  
Inverse Dynamic Control

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.

Wide-area Power System Oscillation Damping using Model Predictive Control Technique

2011 ◽  
Vol 131 (7) ◽  
pp. 536-541 ◽  
Author(s):  
Tarek Hassan Mohamed ◽  
Abdel-Moamen Mohammed Abdel-Rahim ◽  
Ahmed Abd-Eltawwab Hassan ◽  
Takashi Hiyama
Keyword(s):  
Model Predictive Control ◽  
Power System ◽  
Predictive Control ◽  
Wide Area ◽  
Control Technique ◽  
Oscillation Damping

Parametric Study of Damping Characteristics of Magneto-Rheological Damper: Mathematical and Experimental Approach

2020 ◽  
Vol 15 (3) ◽  
pp. 37-48
Author(s):  
Zubair Rashid Wani ◽  
Manzoor Ahmad Tantray
Keyword(s):  
Structural Control ◽  
Research Work ◽  
Testing Machine ◽  
Input Voltage ◽  
Damping Coefficient ◽  
Control Technique ◽  
Damping Force ◽  
Active Devices ◽  
Active Structural Control ◽  
Magneto Rheological

The present research work is a part of a project was a semi-active structural control technique using magneto-rheological damper has to be performed. Magneto-rheological dampers are an innovative class of semi-active devices that mesh well with the demands and constraints of seismic applications; this includes having very low power requirements and adaptability. A small stroke magneto-rheological damper was mathematically simulated and experimentally tested. The damper was subjected to periodic excitations of different amplitudes and frequencies at varying voltage. The damper was mathematically modeled using parametric Modified Bouc-Wen model of magneto-rheological damper in MATLAB/SIMULINK and the parameters of the model were set as per the prototype available. The variation of mechanical properties of magneto-rheological damper like damping coefficient and damping force with a change in amplitude, frequency and voltage were experimentally verified on INSTRON 8800 testing machine. It was observed that damping force produced by the damper depended on the frequency as well, in addition to the input voltage and amplitude of the excitation. While the damping coefficient (c) is independent of the frequency of excitation it varies with the amplitude of excitation and input voltage. The variation of the damping coefficient with amplitude and input voltage is linear and quadratic respectively. More ever the mathematical model simulated in MATLAB was in agreement with the experimental results obtained.

A Proposal of Cyclic Sleep Control Technique for Backup Resources in ROADM Systems to Reduce Power Consumption of Photonic Network

2014 ◽  
Vol E97.B (12) ◽  
pp. 2698-2705
Author(s):  
Tomoyuki HINO ◽  
Hitoshi TAKESHITA ◽  
Kiyo ISHII ◽  
Junya KURUMIDA ◽  
Shu NAMIKI ◽  
...  
Keyword(s):  
Power Consumption ◽  
Control Technique ◽  
Reduce Power Consumption ◽  
Photonic Network ◽  
Sleep Control

Quasi-Periodic Control Technique for Minimizing Fuel Consumption During Record Vehicle Competition

2013 ◽  
Vol 60 (2) ◽  
pp. 185-197 ◽  
Author(s):  
Paweł Sulikowski ◽  
Ryszard Maronski
Keyword(s):  
Fuel Consumption ◽  
Optimal Control Theory ◽  
Slope Angle ◽  
Control Technique ◽  
Decision Variables ◽  
Aeronautical Engineering ◽  
The One ◽  
Optimal Driving ◽  
The Given ◽  
Engine Power

The problem of the optimal driving technique during the fuel economy competition is reconsidered. The vehicle is regarded as a particle moving on a trace with a variable slope angle. The fuel consumption is minimized as the vehicle covers the given distance in a given time. It is assumed that the run consists of two recurrent phases: acceleration with a full available engine power and coasting down with the engine turned off. The most fuel-efficient technique for shifting gears during acceleration is found. The decision variables are: the vehicle velocities at which the gears should be shifted, on the one hand, and the vehicle velocities when the engine should be turned on and off, on the other hand. For the data of students’ vehicle representing the Faculty of Power and Aeronautical Engineering it has been found that such driving strategy is more effective in comparison with a constant speed strategy with the engine partly throttled, as well as a strategy resulting from optimal control theory when the engine is still active.

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