Tip position control of flexible arms using a control law partitioning scheme

2002 ◽  
Author(s):  
K.S. Rattan ◽  
V. Feliu ◽  
H.B. Brown
Keyword(s):  
Position Control ◽  
Control Law ◽  
Tip Position ◽  
Flexible Arms

Collaborative Tracking Control Strategy for Autonomous Excavation of a Hydraulic Excavator

2021 ◽  
Vol 10 (1) ◽  
pp. 43
Author(s):  
Fattah Hanafi Sheikhha ◽  
Ali Afzalaghaeinaeini ◽  
Jaho Seo
Keyword(s):  
Control Strategy ◽  
Tracking Control ◽  
Position Control ◽  
Simulation Models ◽  
Hydraulic Excavator ◽  
Tracking Errors ◽  
Collaborative Tracking ◽  
Autonomous Excavation ◽  
Tip Position ◽  
Electrohydraulic Actuators

A hydraulic excavator consists of multiple electrohydraulic actuators (EHA). Due to uncertainties and nonlinearities in EHAs, it is challenging to devise a proper control strategy. To tackle this issue, a major goal of our study is to provide an efficient control strategy to minimize tracking errors of the bucket tip position for autonomous excavation. To accomplish the goal, the study offers a collaboration of PID and fuzzy controllers that are used to compensate for contour errors and achieve accurate actuator position control, respectively. Co-simulation models including control algorithms and hydraulic components were created using Matlab and Amesim to validate the performance of the designed controllers. Simulations indicate that the proposed method enables achieving accurate tracking control for autonomous excavation with small tracking errors despite the nonlinear characteristics of the hydraulic excavator system.

Conditional integrator sliding mode control of an unmanned quadrotor helicopter

2021 ◽  
pp. 095965182110498
Author(s):  
Yohan Díaz-Méndez ◽  
Leandro Diniz de Jesus ◽  
Marcelo Santiago de Sousa ◽  
Sebastião Simões Cunha ◽  
Alexandre Brandão Ramos
Keyword(s):  
Sliding Mode Control ◽  
Transient Response ◽  
Tracking Control ◽  
Position Control ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Law ◽  
Control Problems ◽  
Control Activity ◽  
Mode Control

Sliding mode control (SMC) is a widely used control law for quadrotor regulation and tracking control problems. The purpose of this article is to solve the tracking problem of quadrotors using a relatively novel nonlinear control law based on SMC that makes use of a conditional integrator. It is demonstrated by a motivation example that the proposed control law can improve the transient response and chattering shortcomings of the previous approaches of similar SMC based controllers. The adopted Newton–Euler model of quadrotor dynamics and controller design is treated separately in two subsystems: attitude and position control loops. The stability of the control technique is demonstrated by Lyapunov’s analysis and the effectiveness and performance of the proposed method are compared with a similar integral law, also based on SMC, and validated by tracking control problems using numerical simulations. Simulations were developed in the presence of external disturbances in order to evaluate the controller robustness. The effectiveness of the proposed controller was verified by performance indexes, demonstrating less accumulated tracking errors and control activity and improvement in the transient response and disturbance rejection when compared to a conventional integrator sliding mode controller.

scholarly journals Nonlinear Hybrid Controller for a Quadrotor Based on Sliding Mode and Backstepping

2015 ◽  
Vol 4 (3) ◽  
pp. 209
Author(s):  
Chuan Lian Zhang ◽  
Kil To Chong
Keyword(s):  
Attitude Control ◽  
Position Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Law ◽  
Dynamics Modeling ◽  
Hybrid Controller ◽  
Navigation Simulation ◽  
Waypoint Navigation ◽  
Nonlinear Hybrid

<span>In this paper, one nonlinear hybrid controller, based on backstepping and sliding mode, was developed and applied to a quadrotor for waypoint navigation application. After dynamics modeling, the whole quadrotor dynamics system could be divided into two subsystems: rotational system and translational system. Backstepping control law was derived for attitude control whereas sliding mode control law was developed for position control. By using Lyapunov theory and satisfying sliding stable rules, the convergence of system could be guaranteed. A nonlinear equation was proposed to solve the under-actuated problem. To validate the effectiveness of proposed nonlinear hybrid controller, waypoint navigation simulation was performed on the nonlinear hybrid controller. Results showed that the nonlinear hybrid controller finished waypoint navigation successfully.</span>

QUASIPASSIVITY-BASED ROBUST NONLINEAR FLAP POSITIONING CONTROL USING SHAPE MEMORY ALLOY MICRO-ACTUATORS

2005 ◽  
Vol 29 (2) ◽  
pp. 143-161
Author(s):  
Nicolas Léchevin ◽  
Camille Alain Rabbath ◽  
Frank Wong ◽  
O. Boissonneault
Keyword(s):  
Shape Memory Alloy ◽  
Nonlinear Control ◽  
Numerical Simulations ◽  
Shape Memory ◽  
Position Control ◽  
Tracking Error ◽  
Constitutive Law ◽  
Control Law ◽  
Ultimate Boundedness ◽  
Feedback Connection

This paper proposes a quasipassivity-based robust nonlinear control law ensuring position control of a rotary flap by means of an antagonist-type shape memory alloy microactuator. The control system employs variable-structure control to obtain robust performance, phase-lead compensation to quasipassivate the shape memory alloy dynamics and quasipassivity-based analysis to warrant robust ultimate boundedness of system trajectories. The feedback connection of the two paths leads to ultimate boundedness of tracking error trajectories of the plant despite uncertainties in the dynamic loads affecting the leading edge flap and in the friction found in the actuator. Since accurate numerical simulations and development of new concepts of microactuators based on shape memory alloys require a tractable, constitutive law accurately describing the relationship between force, displacement and temperature in the material, the paper also presents a hybrid micro-macro-mechanical shape memory alloy constitutive model. This model is based on a combination of structural modeling on a microscopic scale and transformation kinetics modeling on a macroscopic scale. The proposed control law and hybrid micro-macro-mechanical model are placed in closed-loop by means of numerical simulations that demonstrate the validity of the nonlinear control scheme.

Vision-Based Tip Position Control of a Single-Link Robot Manipulator

2019 ◽  
Author(s):  
Umesh Kumar Sahu ◽  
Arun Mishra ◽  
Biswajeet Sahu ◽  
Prateek Priyaranjan Pradhan ◽  
Dipti Patra ◽  
...  
Keyword(s):  
Position Control ◽  
Robot Manipulator ◽  
Single Link ◽  
Tip Position

scholarly journals Evolutionary computing approaches to optimum design of fuzzy logic controller for a flexible robot system

2013 ◽  
Vol 23 (4) ◽  
pp. 395-412 ◽  
Author(s):  
Bidyadhar Subudhi ◽  
Subhakanta Ranasingh
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Position Control ◽  
Fitness Function ◽  
Flexible Manipulator ◽  
Position Tracking ◽  
Flexible Robot ◽  
Robot System ◽  
Single Link ◽  
Tip Position

Abstract This paper presents the design of a Fuzzy Logic Controller (FLC) whose parameters are optimized by using Genetic Algorithm (GA) and Bacteria Foraging Optimization (BFO) for tip position control of a single link flexible manipulator. The proposed FLC is designed by minimizing the fitness function, which is defined as a function of tip position error, through GA and BFO optimization algorithms achieving perfect tip position tracking of the single link flexible manipulator. Then the tip position responses obtained by using both the above controllers are compared to suggest the best controller for the tip position tracking.

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