Comparative study of velocity and computed torque control schemes for a differentially driven automated vehicle

2002 ◽  
Author(s):  
R. Rajagopalan ◽  
N. Barakat
Keyword(s):  
Comparative Study ◽  
Torque Control ◽  
Automated Vehicle ◽  
Computed Torque Control ◽  
Control Schemes ◽  
Computed Torque

Robust Computed Torque Schemes for Mechanical Manipulators: Nonadaptive Versus Adaptive

1991 ◽  
Vol 113 (2) ◽  
pp. 324-327 ◽  
Author(s):  
Y. H. Chen
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Tracking Error ◽  
Statistical Information ◽  
Torque Control ◽  
Control Algorithms ◽  
Computed Torque Control ◽  
Control Schemes ◽  
Mechanical Manipulators ◽  
Computed Torque

We consider the tracking control problem of mechanical manipulators in the presence of uncertainty. Two classes of control algorithms are proposed. If the possible bound of the uncertainty is known, a class of nonadaptive robust computed torque control schemes is used. The control guarantees the tracking error to be confined within a specified region after a finite time. If the bound of uncertainty is unknown, a class of adaptive robust computed torque control schemes is used. The control guarantees the tracking error to converge to zero. Both classes of controls are continuous. No statistical information on the uncertainty is ever assumed.

A PD Computed Torque Control Method with Online Self-gain Tuning for a 3UPS-PS Parallel Robot

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Xiaogang Song ◽  
Yongjie Zhao ◽  
Chengwei Chen ◽  
Liang’an Zhang ◽  
Xinjian Lu
Keyword(s):  
Feedback Loop ◽  
Control Method ◽  
Virtual Work ◽  
Parallel Robot ◽  
Torque Control ◽  
Virtual Work Principle ◽  
Tuning Method ◽  
Computed Torque Control ◽  
Control Feedback ◽  
Computed Torque

SUMMARY In this paper, an online self-gain tuning method of a PD computed torque control (CTC) is used for a 3UPS-PS parallel robot. The CTC is applied to the 3UPS-PS parallel robot based on the robot dynamic model which is established via a virtual work principle. The control system of the robot comprises a nonlinear feed-forward loop and a PD control feedback loop. To implement real-time online self-gain tuning, an adjustment method based on the genetic algorithm (GA) is proposed. Compared with the traditional CTC, the simulation results indicate that the control algorithm proposed in this study can not only enhance the anti-interference ability of the system but also improve the trajectory tracking speed and the accuracy of the 3UPS-PS parallel robot.

Computed Torque Control Method for Two-Axis Planar Serial Robotic Arm

2021 ◽  
pp. 1-9
Author(s):  
G. Perumalsamy ◽  
Deepak Kumar ◽  
Joel Jose ◽  
S. Joseph Winston ◽  
S. Murugan
Keyword(s):  
Control Method ◽  
Torque Control ◽  
Robotic Arm ◽  
Computed Torque Control ◽  
Computed Torque
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