A gain-switching control scheme for position-error-based force-reflecting teleoperation

2003 ◽  
Author(s):  
Liya Ni ◽  
D.W.L. Wang
Keyword(s):  
Switching Control ◽  
Position Error ◽  
Gain Switching ◽  
Control Scheme

An Adaptive Evolutionary Switching Control for Robot Manipulators

2005 ◽  
Author(s):  
P. R. Ouyang ◽  
W. J. Zhang ◽  
Madan M. Gupta
Keyword(s):  
Trajectory Tracking ◽  
Control Method ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
Switching Control ◽  
Learning Ability ◽  
Pd Control ◽  
Control Approach ◽  
Gain Switching ◽  
Control Scheme

In this paper, a new adaptive switching control approach, called adaptive evolutionary switching PD control (AES-PD), is proposed for iterative operations of robot manipulators. The proposed AES-PD control method is a combination of the feedback of PD control with gain switching and feedforward using the input torque profile obtained from the previous iteration. The asymptotic convergence of the AES-PD control method is theoretically proved using Lyapunov’s method. The philosophy of the switching control strategy is interpreted in the context of the iteration domain to increase the speed of the convergence for trajectory tracking of robot manipulators. The AES-PD control has a simple control structure that makes it easily implemented. The validity of the proposed control scheme is demonstrated for the trajectory tracking of robot manipulators through simulation studies. Simulation results show that the AES-PD control can improve the tracking performance with an increase of the iteration number. The EAS-PD control method has the adaptive and learning ability; therefore, it should be very attractive to applications of industrial robot control.

scholarly journals Metzler matrix-based switching control scheme for linear systems with prescribed performance guarantees

2020 ◽  
Vol 53 (2) ◽  
pp. 6428-6433
Author(s):  
Zongyi Guo ◽  
David Henry ◽  
Jianguo Guo ◽  
Zheng Wang ◽  
Jérôme Cieslak ◽  
...  
Keyword(s):  
Linear Systems ◽  
Switching Control ◽  
Prescribed Performance ◽  
Performance Guarantees ◽  
Control Scheme ◽  
Metzler Matrix

A direct MRAC based multivariable multiple-model switching control scheme

Automatica ◽  
2017 ◽  
Vol 84 ◽  
pp. 190-198 ◽  
Author(s):  
Chang Tan ◽  
Gang Tao ◽  
Ruiyun Qi ◽  
Hui Yang
Keyword(s):  
Switching Control ◽  
Multiple Model ◽  
Control Scheme

A Simple Switching Control for Linear Systems to Assure Nonovershooting Step Responses

2012 ◽  
Vol 134 (3) ◽  
Author(s):  
Bo Zhu ◽  
Kai-Yuan Cai
Keyword(s):  
Switching Control ◽  
Linear Feedback ◽  
Linear Feedback Control ◽  
Time Intervals ◽  
Closed Loop Systems ◽  
State Dependent ◽  
Control Scheme ◽  
Performance Limitation ◽  
The Common ◽  
Step Responses

In the paper, we show that for a class of linear plants, although the common linear control can be used to stabilize them, the step responses of the resulting closed-loop systems must have overshoot; however, a simple switching between them may avoid the overshoot. This indicates that switching control may overcome the performance limitation of linear feedback control in the overshoot-avoidance respect. A simple switching control scheme with such a quality is exploited and the conditions for its existence are presented. In the scheme, two common controllers are needed and they are only required to guarantee no overshoot on the time intervals [0, ts) and [ts, ∞), respectively, where ts denotes the switching time. For actual implementation, a state-dependent version of the switching control law is developed. Two examples are presented to show its effectiveness.

Robust gain switching control of constant bottomhole pressure drilling

2017 ◽  
Vol 57 ◽  
pp. 38-49
Author(s):  
Anirudh Nandan ◽  
Syed Imtiaz ◽  
Stephen Butt
Keyword(s):  
Switching Control ◽  
Gain Switching ◽  
Bottomhole Pressure
Sign in / Sign up

Export Citation Format

Share Document