scholarly journals Design of an Online Nonlinear Optimal Tracking Control Method for Unmanned Ground Systems

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 65429-65438 ◽  
Author(s):  
Jie Liu ◽  
Wei Han ◽  
Yong Zhang ◽  
Zhigang Chen ◽  
Haijun Peng
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Optimal Tracking ◽  
Optimal Tracking Control ◽  
Ground Systems

Dynamic Walk of a Quadruped Locomotion Robot Using Robust Optimal Tracking Control

1995 ◽  
Author(s):  
Hiroaki Uchida ◽  
Kenzo Nonami
Keyword(s):  
Optimal Control ◽  
High Frequency ◽  
Tracking Control ◽  
Control Method ◽  
Reaction Force ◽  
The Body ◽  
High Frequency Vibration ◽  
Quadruped Locomotion ◽  
Optimal Tracking ◽  
Optimal Tracking Control

Abstract We propose a new control system design strategy that is called “frequency-shaped optimal tracking control method” in this paper. We make sure that the proposed method is very useful by creating the quasi-dynamic walk of a quadruped locomotion robot. During control of the locomotion robot, high feedback (FB) gains should be selected to work against the force and the moment from the body and the reaction force from the ground. However, if high FB gains are used, high frequency vibration comes out because of the backlash of the gear. Frequency-shaped optimal control is the control method to improve the robustness against the disturbance like high frequency vibration. Frequency-shaped optimal tracking control extends the frequency-shaped optimal control to the servo system like the trajectory following control of the robot. First, we’ll show the design scheme of the frequency-shaped optimal tracking control. Next, we’ll show how decentralized control is realized in order to apply frequency-shaped optimal tracking control. Finally, we’ll compare the frequency-shaped optimal tracking control with the optimal tracking control from the points of view of the simulations and the experiments.

scholarly journals Event-triggered-based Cooperative Game Optimal Tracking Control for Modular Robot Manipulator with Constrained Input

2021 ◽  
Author(s):  
Yuanchun Li ◽  
Chongyang Wei ◽  
Tianjiao An ◽  
Bing Ma ◽  
BO DONG
Keyword(s):  
Control Problem ◽  
Cooperative Game ◽  
Control Strategy ◽  
Tracking Control ◽  
Control Method ◽  
Modular Robot ◽  
Optimal Tracking ◽  
Optimal Tracking Control ◽  
Event Triggered ◽  
Constrained Input

Abstract In this paper, a cooperative game optimal tracking control method based on event-triggered mechanism for constrained input modular robot manipulators (MRMs) system is introduced. According to the joint torque feedback (JTF) technique, the dynamics model of the constrained input subsystem is established and the global state space equation is derived. The control inputs of $n$ joints in the MRM system with constrained input are taken as $n$ participants of cooperative game, the tracking control problem of the manipulator system is transformed into the optimal control problem based on the cooperative game. Next, a fusion function containing position and velocity errors is defined to construct the performance index function. In order to improve the control performance and robustness of the manipulator system, part of the known model information is used to devise controller, the model uncertainty is dealt by the neural network (NN) observer, and the optimal compensation control strategy is used to deal with internal disturbance such as sensor measurement error and transmission ripple due to power fluctuations, electromagnetic effects, noise and vibration. Based on the adaptive dynamic programming (ADP) algorithm and event-triggered mechanism, the optimal tracking control strategy is obtained by approximately solving the event-triggered Hamilton-Jacobi-Bellman (HJB) equation with the critic NN. The Lyapunov theory proves that trajectory tracking error of MRM system with constrained input is uniformly ultimately bounded (UUB). Finally, the experimental results demonstrate the effectiveness of the proposed control method.

Improved Online Optimization-Based Optimal Tracking Control Method for Induction Motor Drives

2020 ◽  
Vol 35 (10) ◽  
pp. 10654-10672 ◽  
Author(s):  
Rasul Tarvirdilu-Asl ◽  
Shamsuddeen Nalakath ◽  
Zekun Xia ◽  
Yingguang Sun ◽  
Jason Wiseman ◽  
...  
Keyword(s):  
Induction Motor ◽  
Tracking Control ◽  
Control Method ◽  
Motor Drives ◽  
Online Optimization ◽  
Induction Motor Drives ◽  
Optimal Tracking ◽  
Optimal Tracking Control

scholarly journals Robust Optimal Tracking Control of a Full-Bridge DC-AC Converter

2021 ◽  
Vol 11 (3) ◽  
pp. 1211
Author(s):  
En-Chih Chang ◽  
Chun-An Cheng ◽  
Rong-Ching Wu
Keyword(s):  
Steady State ◽  
Digital Signal Processor ◽  
Tracking Control ◽  
Harmonic Distortion ◽  
Digital Signal ◽  
Fast Convergence ◽  
Solution Quality ◽  
Hybrid Strategy ◽  
Optimal Tracking ◽  
Optimal Tracking Control

This paper develops a full-bridge DC-AC converter, which uses a robust optimal tracking control strategy to procure a high-quality sine output waveshape even in the presence of unpredictable intermissions. The proposed strategy brings out the advantages of non-singular fast convergent terminal attractor (NFCTA) and chaos particle swarm optimization (CPSO). Compared with a typical TA, the NFCTA affords fast convergence within a limited time to the steady-state situation, and keeps away from the possibility of singularity through its sliding surface design. It is worth noting that once the NFCTA-controlled DC-AC converter encounters drastic changes in internal parameters or the influence of external non-linear loads, the trembling with low-control precision will occur and the aggravation of transient and steady-state performance yields. Although the traditional PSO algorithm has the characteristics of simple implementation and fast convergence, the search process lacks diversity and converges prematurely. So, it is impossible to deviate from the local extreme value, resulting in poor solution quality or search stagnation. Thereby, an improved version of traditional PSO called CPSO is used to discover global optimal NFCTA parameters, which can preclude precocious convergence to local solutions, mitigating the tremor as well as enhancing DC-AC converter performance. By using the proposed stable closed-loop full-bridge DC-AC converter with a hybrid strategy integrating NFCTA and CPSO, low total harmonic distortion (THD) output-voltage and fast dynamic load response are generated under nonlinear rectifier-type load situations and during sudden load changes, respectively. Simulation results are done by the Matlab/Simulink environment, and experimental results of a digital signal processor (DSP) controlled full-bridge DC-AC converter prototype confirm the usefulness of the proposed strategy.

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