Characteristic Modeling and Control Approach of High-Order Nonlinear Systems

2018 ◽  
Author(s):  
Lei Chen ◽  
Xin Xin ◽  
Xu Long ◽  
Changyin Sun
Keyword(s):  
Nonlinear Systems ◽  
High Order ◽  
Modeling And Control ◽  
Control Approach ◽  
Characteristic Modeling ◽  
And Control

Fuzzy modeling and control of a class of non‐differentiable multi‐input multi‐output nonlinear systems

2021 ◽  
Author(s):  
Kazem Zare ◽  
Mokhtar Shasadeghi ◽  
Afshin Izadian ◽  
Taher Niknam ◽  
Mohammad Hassan Asemani
Keyword(s):  
Nonlinear Systems ◽  
Fuzzy Modeling ◽  
Modeling And Control ◽  
And Control

scholarly journals Modeling and control of a new robotic deburring system

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 229-237 ◽  
Author(s):  
Jae H. Chung ◽  
Changhoon Kim
Keyword(s):  
Comparative Study ◽  
Decentralized Control ◽  
Control Method ◽  
Robotic Manipulator ◽  
Coordination Control ◽  
Pneumatic Actuators ◽  
Modeling And Control ◽  
Control Approach ◽  
Simulation Results ◽  
And Control

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

Modeling and control of a mobile manipulator

Robotica ◽  
1998 ◽  
Vol 16 (6) ◽  
pp. 607-613 ◽  
Author(s):  
J. H. Chung ◽  
S. A. Velinsky
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Harmful Effect ◽  
Euler Method ◽  
Friction Model ◽  
Mobile Manipulator ◽  
Wheel Slip ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control

This paper concerns the modeling and control of a mobile manipulator which consists of a robotic arm mounted upon a mobile platform. The equations of motion are derived using the Lagrange-d'Alembert formulation for the nonholonomic model of the mobile manipulator. The dynamic model which considers slip of the platform's tires is developed using the Newton-Euler method and incorporates Dugoff's tire friction model. Then, the tracking problem is investigated by using a well known nonlinear control method for the nonholonomic model. The adverse effect of the wheel slip on the tracking of commanded motion is discussed in the simulation. For the dynamic model, a variable structure control approach is employed to minimize the harmful effect of the wheel slip on the tracking performance. The simulation results demonstrate the effectiveness of the proposed control algorithm.

Modeling and Control Approach to Coupled Tanks Liquid Level System Based on Function-Type Weight RBF-ARX Model

2016 ◽  
Vol 19 (2) ◽  
pp. 692-707 ◽  
Author(s):  
Feng Zhou ◽  
Hui Peng ◽  
Xiaoyong Zeng ◽  
Xiaoying Tian ◽  
Jun Wu
Keyword(s):  
Liquid Level ◽  
Level System ◽  
Function Type ◽  
Arx Model ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control
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