Precise Point-to-Point Positioning Control of Flexible Structures

1990 ◽  
Vol 112 (4) ◽  
pp. 667-674 ◽  
Author(s):  
S. P. Bhat ◽  
D. K. Miu
Keyword(s):  
Position Control ◽  
Flexible Structures ◽  
Design Procedure ◽  
Control Technique ◽  
Control Input ◽  
Bounded Control ◽  
Linear Quadratic Optimal Control ◽  
Flexible Mode ◽  
Point Positioning ◽  
Point To Point

Control strategies to accomplish precise point-to-point positioning of flexible structures are discussed. First, the problem is formulated and solved in closed form using a linear quadratic optimal control technique for a simple system with only one rigid and one flexible mode; the resulting analytical solutions are examined in both the time and frequency domain. In addition, the necessary and sufficient condition for zero residual vibration is derived which simply states that the Laplace transform of the time bounded control input must vanish at the system poles. This criteria is then used to highlight the common features of existing techniques and to outline an alternative design procedure for precise position control of more complicated structures having multiple flexible modes.

Point-to-Point Positioning of Flexible Structures Using a Time Domain LQ Smoothness Constraint

1992 ◽  
Vol 114 (3) ◽  
pp. 416-421 ◽  
Author(s):  
S. P. Bhat ◽  
D. K. Miu
Keyword(s):  
Time Domain ◽  
Finite Time ◽  
Flexible Structures ◽  
Control Input ◽  
Time Control ◽  
Smoothness Constraint ◽  
Point Control ◽  
Point To Point ◽  
The Time Domain ◽  
Different Order

An analytical procedure to implement optimal smoothing of the finite-time control waveform for point-to-point control problem is presented, which minimizes an optimality constraint consisting of a linear combination of the quadratic norms of its time derivatives. It is shown that the resulting control input is essentially the minimum norm solution augmented to satisfy some additional continuity requirements in the time domain. Application of the proposed technique to finite-time maneuvering of flexible structures is experimentally demonstrated and performances are compared using control torques evaluated based on different order of the smoothness constraint and order of the truncated plant model.

Experiments on Point-to-Point Position Control of a Flexible Beam Using Laplace Transform Technique: Part I—Open-Loop

1991 ◽  
Vol 113 (3) ◽  
pp. 432-437 ◽  
Author(s):  
S. P. Bhat ◽  
M. Tanaka ◽  
D. K. Miu
Keyword(s):  
Position Control ◽  
Flexible Structures ◽  
Open Loop ◽  
Engineering Problem ◽  
Flexible Beam ◽  
Loop Control ◽  
Point Position ◽  
Control Functions ◽  
Laplace Transform Technique ◽  
Point To Point

When lightly damped flexible structures are used in high bandwidth applications, the elimination of residual vibration during point-to-point positioning is an important engineering problem. Using the Laplace domain synthesis technique introduced in earlier publications, experiments on the precise point-to-point position control of a flexible beam have been performed. In Part I of this two-part paper, results related to open-loop control are presented. A variety of candidate control functions are evaluated and performance issues related to robustness and sensitivity are investigated.

Integral Sliding Mode Control of DC Servo-Driven Conveyor System

2015 ◽  
Vol 799-800 ◽  
pp. 1177-1182
Author(s):  
Günyaz Ablay ◽  
Yakup Eroğlu
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Control Strategies ◽  
Design Procedure ◽  
Control Technique ◽  
Conveyor System ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control

DC servo systems which are utilized in many industries require efficient and robust control strategies for achieving specific duties accurately. An integral sliding mode control (ISMC) is designed for position control of DC servo-driven conveyor system in this work. The ISMC which maintains the robustness, linearization and systematic design procedure of the conventional sliding modes is aimed to solve robust position control problem under load uncertainties. Performance and robustness of the ISMC are compared with the PID controller. Numerical and experimental results are presented to demonstrate the validity, feasibility and effectiveness of the designed control technique.

Controller Design Procedure for Two-Mass Systems With Single Flexible Mode

2008 ◽  
Vol 130 (3) ◽  
Author(s):  
Young Joo Shin ◽  
Peter H. Meckl
Keyword(s):  
Control Strategy ◽  
Controller Design ◽  
Design Procedure ◽  
High Volume ◽  
Command Shaping ◽  
Flexible Mode ◽  
Minimum Residual ◽  
High Volume Production ◽  
Pid Controller Design ◽  
Point To Point

Many manufacturing machines must execute motions as quickly as possible to achieve profitable high-volume production. Most of them exhibit some flexibility, which makes the settling time longer and controller design difficult. This paper develops a control strategy that combines feedforward and feedback control with command shaping for systems with collocated actuator and sensor. First, a feedback controller is designed to increase damping and eliminate steady-state error. Next, an appropriate reference profile is generated using command-shaping techniques to ensure fast point-to-point motions with minimum residual vibration. Finally, a feedforward controller is designed to speed up the transient response. The proposed proportional-integral-derivative (PID) controller design ensures that two important resonant frequencies nearly match, making the design of the input commands much simpler. The resulting control strategy is successfully demonstrated for a generic dimensionless system that incorporates some modeling errors to assess robustness.

scholarly journals Backstepping Control for Induction Motors with Input and Output Constrains

2020 ◽  
Vol 10 (4) ◽  
pp. 5998-6003
Author(s):  
T. L. Nguyen ◽  
T. H. Vo ◽  
N. D. Le
Keyword(s):  
Induction Motor ◽  
Tracking Error ◽  
Design Procedure ◽  
Backstepping Control ◽  
System Stability ◽  
Voltage Source ◽  
Control Voltage ◽  
Control Input ◽  
Bounded Control ◽  
Dc Bus

In practice, the applied control voltage for an induction motor drive system fed by a voltage source inverter has a limit depending on the DC bus capacity. In certain operations such as accelerating, the motor might require an excessively high voltage value that the DC bus cannot supply. This paper presents a control solution for the bounded control input problem of the induction motor system by flexibly combining a hyperbolic tangent function in a backstepping control design procedure. In addition, the barrier Lyapunov function is also employed to force speed tracking error in a defined value. The closed-loop system stability is proven, and the proposed control is verified through numerical simulations.

scholarly journals Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism

Sensors ◽  
2021 ◽  
Vol 21 (10) ◽  
pp. 3498
Author(s):  
Youqiang Zhang ◽  
Cheol-Su Jeong ◽  
Minhyo Kim ◽  
Sangrok Jin
Keyword(s):  
Control Algorithm ◽  
Position Control ◽  
Friction Model ◽  
Surgical Instruments ◽  
Control Input ◽  
End Effector ◽  
Motor Current ◽  
Direct Teaching ◽  
End Effectors ◽  
Teaching Operation

This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments. It also presents a force-free control algorithm for the direct teaching of end effectors. The bidirectional telescopic mechanism can actively transmit force both upwards and downwards by staggering the wires on both sides. In order to estimate and control torque via motor current without a force/torque sensor, the gravity model and friction model of the device are derived through repeated experiments. The LuGre model is applied to the friction model, and the static and dynamic parameters are obtained using a curve fitting function and a genetic algorithm. Direct teaching control is designed using a force-free control algorithm that compensates for the estimated torque from the motor current for gravity and friction, and then converts it into a position control input. Direct teaching operation sensitivity is verified through hand-guiding experiments.

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.

Second-order consensus for a class of uncertain multi-agent systems subject to input saturation

2018 ◽  
Vol 41 (7) ◽  
pp. 1957-1964 ◽  
Author(s):  
Ming-Can Fan ◽  
Miaomiao Wang
Keyword(s):  
A Priori ◽  
Input Saturation ◽  
Second Order ◽  
Control Technique ◽  
Control Input ◽  
Multi Agent Systems ◽  
State Information ◽  
Agent Systems ◽  
Barbalat’S Lemma ◽  
Multi Agent

This paper investigates the leaderless and leader-following consensus problem for a class of second-order multi-agent systems subject to input saturation, that is, the control input is required to be a priori bounded. Moreover, the control coefficients are assumed to be unavailable, which cannot be lower or upper bounded by any known constants. Distributed consensus protocols are proposed based only on agents’ own velocity state information and relative position state information among neighbouring agents and the leader. By virtue of the adaptive control technique, algebraic graph theory and Barbalat’s lemma, it is proved that the states of the multi-agent systems can achieve consensus under the assumption that the interconnection topology is undirected and connected. Finally, two simulation examples are provided to illustrate the effectiveness of the theoretical results.

Periodic controller for guaranteed simultaneous stabilization of two plants with robust zero error tracking

2018 ◽  
Vol 233 (5) ◽  
pp. 480-490
Author(s):  
Arindam Chakraborty ◽  
Jayati Dey
Keyword(s):  
Design Methodology ◽  
Linear Time ◽  
Pole Placement ◽  
Control Input ◽  
Efficient Design ◽  
Simultaneous Stabilization ◽  
Bounded Control ◽  
Linear Time Invariant ◽  
Time Invariant ◽  
Time Periodic

The guaranteed simultaneous stabilization of two linear time-invariant plants is achieved by continuous-time periodic controller with high controller frequency. Simultaneous stabilization is accomplished by means of pole-placement along with robust zero error tracking to either of two plants. The present work also proposes an efficient design methodology for the same. The periodic controller designed and synthesized for realizable bounded control input with the proposed methodology is always possible to implement with guaranteed simultaneous stabilization for two plants. Simulation and experimental results establish the veracity of the claim.

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