Sliding Mode Friction Compensation for a 20 DOF Sensor Glove

2000 ◽  
Vol 122 (4) ◽  
pp. 611-615 ◽  
Author(s):  
Pe´ter Korondi ◽  
Pe´ter T. Szemes ◽  
Hideki Hasimoto
Keyword(s):  
High Performance ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Sliding Mode ◽  
Friction Compensation ◽  
Practical Application ◽  
Human Interface ◽  
Direct Model ◽  
Chattering Free ◽  
Interface Device

A high-performance human interface device needs accurate force feedback from the manipulated environment to the operator to improve the operation. The mechanism applied in the human interface device usually has a reasonable imminent friction. This friction must be compensated in a way that the operator cannot feel this friction force but only the force from the manipulated environment. The main contribution of this paper is a practical application of direct model based chattering free sliding mode friction estimator and compensator for a human interface device, which is used for virtual telemanipulation. Experimental results are presented for a sensor glove type haptic device with 20 degrees of freedom. [S0022-0434(00)01104-7]

Design and Application of Chattering-Free Sliding Mode Controller to Cable-Driven Parallel Robot Manipulator: Theory and Experiment

2010 ◽  
Author(s):  
Meysar Zeinali ◽  
Amir Khajepour
Keyword(s):  
High Performance ◽  
Degrees Of Freedom ◽  
Controller Design ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Parallel Robot ◽  
Industrial Applications ◽  
Fast Time ◽  
Chattering Free

High-performance robust controller design for nonlinear uncertain dynamical systems such as cable-driven parallel robot manipulators is a challenging work. In this paper, a new and systematic approach to combine sliding mode control, adaptive control design techniques and PID control for tracking control of cable-driven parallel robot manipulators, in the presence of model uncertainties is presented. In the proposed method, structured (parametric) and unstructured (un-modeled) uncertainties are lumped into one term and one uncertain parameter (term) is considered corresponding to each degrees of freedom of robot manipulator. Therefore, the problem of computation burden and large number of parameters, which are not addressed in the literature, is solved to a large extent. The global uniform ultimate boundedness stability is obtained in the presence of fast time-varying uncertainties. The simulation and experimental results revealed that the proposed method is robust against uncertainties and its simplicity makes the approach attractive for industrial applications.

Robust Biaxial Contouring Controller Design Incorporating Frictional Dynamics

2006 ◽  
Author(s):  
Kuan-Chen Lin ◽  
Chieh-Li Chen
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Contour Error ◽  
Friction Compensation ◽  
Parametric Uncertainties ◽  
Coordination Control ◽  
Friction Modeling ◽  
Friction Forces ◽  
Load Variations ◽  
Chattering Free

The performance of a contouring action is evaluated by the geometric deviation called contour error. By analysis, this error is significantly affected by coordination of axes, frictional effects and load variations. To improve the contouring performance, both the coordination control and the friction compensation should be incorporated into controller synthesis. Besides, friction forces are also found tending to vary quantitatively with position and time, which can be termed as parametric uncertainties in the friction modeling. Therefore, this paper provides an integrated structure such that all the factors can be combined into a single formulation, and a robust chattering-free output feedback sliding mode contouring controller design is proposed based on this formulation such that the coordination control, friction compensation, load variation and parametric uncertainties can be together solved by a systematic procedure. Numerical results with 20% system parametric uncertainties are shown consistent to the theoretical analysis, and reveal the effectiveness and the robustness of the proposed method.

scholarly journals Online High Performance Genetic Algorithm Based Sliding Mode Control for Controllable Pitch Propeller

Processes ◽  
2020 ◽  
Vol 8 (8) ◽  
pp. 953
Author(s):  
Yuchao Wang ◽  
Qiusu Wang ◽  
Huixuan Fu
Keyword(s):  
Genetic Algorithm ◽  
Sliding Mode Control ◽  
Pid Controller ◽  
High Performance ◽  
Sliding Mode ◽  
Ocean Waves ◽  
Proportional Integral Derivative ◽  
Mode Control ◽  
Load Demand ◽  
Chattering Free

During the voyage of a ship, the performance of a controllable pitch propeller (CPP) is severely affected by the changing load demand and ever-present disturbance from ocean waves, which will also result in model uncertainty. In order to improve the performance of the CPP system, an online high-performance genetic algorithm (HPGA)-based sliding mode control (SMC) strategy is proposed. Firstly, the model of the CPP system is obtained according to the manufacturer’s instructions. Then, a chattering-free sliding mode controller (CF-SMC) is designed for the CPP system, after which the parameters in the CF-SMC are optimized with the HPGA method. Finally, the optimized CF-SMC is applied to an experimental setup of a prototype CPP system. In order to validate the effectiveness of the proposed method, it is compared with a proportional-integral-derivative (PID) controller, which is typically applied on real CPP-systems, with results indicating the superiority of the proposed method.

High-performance discrete-time chattering-free sliding mode-based speed control of induction motor

2016 ◽  
Vol 99 (2) ◽  
pp. 583-593 ◽  
Author(s):  
Čedomir Milosavljević ◽  
Branislava Peruničić-Draženović ◽  
Boban Veselić ◽  
Milutin Petronijević
Keyword(s):  
Induction Motor ◽  
Discrete Time ◽  
High Performance ◽  
Sliding Mode ◽  
Speed Control ◽  
Chattering Free

scholarly journals Scattering in Terms of Bohmian Conditional Wave Functions for Scenarios with Non-Commuting Energy and Momentum Operators

Entropy ◽  
2021 ◽  
Vol 23 (4) ◽  
pp. 408
Author(s):  
Matteo Villani ◽  
Guillermo Albareda ◽  
Carlos Destefani ◽  
Xavier Cartoixà ◽  
Xavier Oriols
Keyword(s):  
Single Particle ◽  
Degrees Of Freedom ◽  
Single Photon ◽  
Open Quantum Systems ◽  
Wave Functions ◽  
Practical Application ◽  
Light Matter Interaction ◽  
Pure States ◽  
Energy And Momentum ◽  
Full Quantum

Without access to the full quantum state, modeling quantum transport in mesoscopic systems requires dealing with a limited number of degrees of freedom. In this work, we analyze the possibility of modeling the perturbation induced by non-simulated degrees of freedom on the simulated ones as a transition between single-particle pure states. First, we show that Bohmian conditional wave functions (BCWFs) allow for a rigorous discussion of the dynamics of electrons inside open quantum systems in terms of single-particle time-dependent pure states, either under Markovian or non-Markovian conditions. Second, we discuss the practical application of the method for modeling light–matter interaction phenomena in a resonant tunneling device, where a single photon interacts with a single electron. Third, we emphasize the importance of interpreting such a scattering mechanism as a transition between initial and final single-particle BCWF with well-defined central energies (rather than with well-defined central momenta).

scholarly journals Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

2021 ◽  
pp. 014233122110313
Author(s):  
Afef Hfaiedh ◽  
Ahmed Chemori ◽  
Afef Abdelkrim
Keyword(s):  
Real Time ◽  
Error Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Class I ◽  
Control Input ◽  
Underactuated Mechanical Systems ◽  
Control Scheme ◽  
And Performance

In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the resulting closed-loop system. Numerical simulation results show the robustness and performance of the original RISE toward parametric uncertainties and disturbance rejection. A comparative study with a conventional sliding mode control reveals a significant robustness improvement with the proposed original RISE controller. However, in real-time experiments, the amplification of the measurement noise is a major problem. It has an impact on the behaviour of the motor and reduces the performance of the system. To deal with this issue, we propose to estimate the velocity using the robust Levant differentiator instead of the numerical derivative. Real-time experiments were performed on the testbed of the inertia wheel inverted pendulum to demonstrate the relevance of the proposed observer-based RISE control scheme. The obtained real-time experimental results and the obtained evaluation indices show clearly a better performance of the proposed observer-based RISE approach compared to the sliding mode and the original RISE controllers.

Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation

2008 ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Small Space ◽  
Surgical Robots ◽  
Tool Positioning ◽  
Rotation Axes ◽  
Surgical Tool ◽  
Linear Nature

The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

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