PDF Subvariable Control and Its Application to Robot Motion Control

1989 ◽  
Vol 111 (3) ◽  
pp. 452-461 ◽  
Author(s):  
M. C. Leu ◽  
D. I. Freed
Keyword(s):  
Feedback Control ◽  
Nonlinear System ◽  
Motion Control ◽  
Response Speed ◽  
Experimental Results ◽  
Robot Motion ◽  
Velocity Feedback ◽  
Control Scheme ◽  
Control Schemes ◽  
Manipulator Arm

A method for determining the feedback coefficients of pseudo-derivative-feedback control is presented, along with applications of this control scheme. Simulations are performed for controlling a linear inertia system with disturbance loads and inertia variations, and for controlling a nonlinear system represented by a manipulator arm. The results show that PDF subvariable control quickly rejects disturbances and is insensitive to inertia variations. Also, the position responses do not exhibit overshoot or oscillation. Comparison with the results for proportional-plus-velocity-feedback control shows that the PDF approach is superior in response speed, robustness, and disturbance-handling ability. Experimental results from implementation of both control schemes to a revolute manipulator support this conclusion.

Adaptive and Repetitive Control for Rejecting Repeatable and Non-Repeatable Runout in Rotating Devices

2007 ◽  
Author(s):  
Ne´stor O. Pe´rez Arancibia ◽  
Chi-Ying Lin ◽  
Tsu-Chin Tsao ◽  
James S. Gibson
Keyword(s):  
High Performance ◽  
Disk Drive ◽  
Minimum Variance ◽  
Experimental Results ◽  
Recursive Least Squares ◽  
Broad Bandwidth ◽  
Periodic Disturbances ◽  
Write Heads ◽  
Control Scheme ◽  
Control Schemes

This paper presents a control scheme for rejecting both repeatable and non-repeatable runout components of disturbances occurring in rotational devices. To exemplify this method, implementation and experimental results for track following control of a computer hard disk drive (HDD) read/write heads are presented. Aiming for high performance, the control design involves two steps. The first is the design and tuning of a recursive least-squares (RLS) based scheme intended to achieve minimum variance performance. The second step integrates repetitive and adaptive control schemes in a real-time implementation to compensate for variations and changes in the disturbance dynamics. The repetitive part of this controller targets specific periodic disturbances. The adaptive part compensates for broad bandwidth stochastic disturbances. The key element in this design is the formulation of an appropriate optimization problem, solvable recursively by applying recursive adaptive algorithms. Experimental results obtained from the implementation of this method in a commercial HDD demonstrates the effectiveness of this approach.

Delayed Output Feedback Control for Nonlinear Systems With Fuzzy Observers

2012 ◽  
Author(s):  
Mansour Karkoub ◽  
Tzu Sung Wu
Keyword(s):  
Feedback Control ◽  
Nonlinear System ◽  
Nonlinear Systems ◽  
Output Feedback ◽  
Tracking Error ◽  
Sufficient Conditions ◽  
Output Feedback Control ◽  
Linear Matrix ◽  
External Disturbances ◽  
Control Scheme

In this paper, the design problem of delayed output feedback control scheme using two-layer interval fuzzy observers for a class of nonlinear systems with state and output delays is investigated. The Takagi-Sugeno type fuzzy linear model with an on-line update law is used to approximate the nonlinear system. Based on the fuzzy model, a two-layer interval fuzzy observer is used to reconstruct the system states according to equal interval output time delay slices. Subsequently, a delayed output feedback adaptive fuzzy controller is developed to override the nonlinearities, time delays, and external disturbances such that the H∞ tracking performance is achieved. The linguistic information is developped by setting the membership functions of the fuzzy logic system and the adaptation parameters to estimate the model uncertainties directly for using linear analytical results instead of estimating nonlinear system functions. The filtered tracking error dynamics are designed to satisfy the Strictly Positive Realness (SPR) condition. Based on the Lyapunov stability criterion and linear matrix inequalities (LMIs), some sufficient conditions are derived so that all states of the system are uniformly ultimately bounded and the effect of the external disturbances on the tracking error can be attenuated to any prescribed level and consequently an H∞ tracking control is achieved. Finally, a numerical example of a two-link robot manipulator is given to illustrate the effectiveness of the proposed control scheme.

Distributed Cohesive Motion Control of Quadrotor Vehicle Formations

2010 ◽  
Author(s):  
I˙smail Bayezit ◽  
Barıs¸ Fidan ◽  
Mehdi M. Amini ◽  
Iman Shames
Keyword(s):  
Motion Control ◽  
Dynamic Models ◽  
Individual Agent ◽  
3 Dimensional ◽  
Vehicle System ◽  
Control Scheme ◽  
Control Schemes ◽  
Vehicle Systems ◽  
And Control ◽  
Coordination And Control

In this paper, we focus on distributed cohesive motion control of 3-dimensional multi-vehicle systems considering individual agent dynamic behaviors as well as the overall multi-vehicle system. In this context, we examine maintenance of geometric formation of a swarm of autonomous quadrotor vehicles, i.e. maintenance of the distance between each agent pair in the swarm, during arbitrary maneuvers. A distributed scheme for the formation maintenance task is developed first. This coordination scheme is integrated with low level dynamic controllers designed for the agents considering practical kinematic and dynamic models for quadrotor vehicles. The distributed motion control scheme is implemented to move the vehicles whose initial positions satisfying the desired formation maintenance constraints are specified, to a set of final desired positions satisfying the same constraints cohesively without deviating from the desired geometric formation during motion. The developed coordination and control schemes are tested via a number of simulations.

Development of Piezo Driven Motion Amplified Stage

2014 ◽  
Vol 541-542 ◽  
pp. 742-746
Author(s):  
Jung Hyun Kim
Keyword(s):  
Motion Control ◽  
Feedback System ◽  
Optical Microscope ◽  
Experimental Results ◽  
Amplification Ratio ◽  
Control Scheme ◽  
Motion Stage ◽  
Loop Motion

This paper presents a novel piezo driven motion stage employing multiple motion levers allowing for an amplification ratio that exceeds 60x enabled by a newly contrived cross hinge structure. Measurements of the motion stage were made using an optical microscope. The motion stage was incorporated into a visually served close loop motion control scheme and experimental results prove that the feedback system is capable of 20nm nanostepping.

A Novel Dual-Loop Control Scheme for Payload Anti-Swing and Trolley Position of Industrial Robotic 3DOF Crane

2015 ◽  
Vol 789-790 ◽  
pp. 658-664 ◽  
Author(s):  
Muhammad Faisal ◽  
Mohsin Jamil ◽  
Usman Rashid ◽  
Syed Omer Gilani ◽  
Yasar Ayaz ◽  
...  
Keyword(s):  
Feedback Control ◽  
State Feedback ◽  
Research Work ◽  
State Feedback Control ◽  
Experimental Results ◽  
Loop Control ◽  
Control Techniques ◽  
Swing Angle ◽  
Suggested Technique ◽  
Control Scheme

In this paper, we propose a novel dual-loop control scheme (DLCS). We did not see such investigation of DLCS in the previous research work. DLCS scheme is a combination of classical PID and advanced state feedback control techniques. The proposed technique is used to control swing angle and trolley position of a 3DOF crane. Extensive simulations have been carried out using MATLAB / Simulink and practically validated on a Quanser 3DOF crane system. Experimental results indicate that the proposed DLCS control scheme improves crane operation by damping the payload oscillations. The scheme also smoothen the trolley motion. Our suggested technique provides better performance in terms of payload oscillations comparing to the classical PID.

Feedback Control of Two Beam, Two Joint Systems With Distributed Flexibility

1975 ◽  
Vol 97 (4) ◽  
pp. 424-431 ◽  
Author(s):  
W. J. Book ◽  
O. Maizza-Neto ◽  
D. E. Whitney
Keyword(s):  
Feedback Control ◽  
Joint Angle ◽  
Relative Merit ◽  
Linear Feedback ◽  
State Variables ◽  
Linear Feedback Control ◽  
Velocity Feedback ◽  
Control Schemes

The control of the flexible motion in a plane of two pinned beams is addressed with application to remote manipulators. Three types of linear feedback control schemes are considered: joint angle and velocity feedback with (GRC) and without (IJC) cross joint feedback, and feedback of flexible state variables (FFC). Two models of the distributed flexibility are presented along with some results obtained from them. The relative merit of the three control schemes is discussed.

scholarly journals Simplified Motion Control of a Vehicle manipulator for the Coordinated Mobile Manipulation

2020 ◽  
Vol 70 (1) ◽  
pp. 72-81 ◽  
Author(s):  
Swati Mishra ◽  
Santhakumar Mohan ◽  
Santosh Kumar Vishvakarma
Keyword(s):  
Motion Control ◽  
Experimental Testing ◽  
Kinematic Control ◽  
Control Approach ◽  
Operational Space ◽  
Control Scheme ◽  
Manipulator Arm ◽  
The Given ◽  
Pseudo Inverse ◽  
Kinematic Motion

This paper considers a resolved kinematic motion control approach for controlling a spatial serial manipulator arm that is mounted on a vehicle base. The end-effector’s motion of the manipulator is controlled by a novel kinematic control scheme, and the performance is compared with the well-known operational-space control scheme. The proposed control scheme aims to track the given operational-space (end-effector) motion trajectory with the help of resolved configuration-space motion without using the Jacobian matrix inverse or pseudo inverse. The experimental testing results show that the suggested control scheme is as close to the conventional operational-space kinematic control scheme.

A Control Scheme for an Opposed Recumbent Tandem Human-Powered Bicycle

1996 ◽  
Vol 12 (4) ◽  
pp. 480-492
Author(s):  
Scott O. Cloyd ◽  
Mont Hubbard ◽  
LeRoy W. Alaways
Keyword(s):  
Feedback Control ◽  
Linear Quadratic Regulator ◽  
Optimal Feedback Control ◽  
State Variables ◽  
Linear Quadratic ◽  
Lateral Deviation ◽  
Control Scheme ◽  
Control Schemes ◽  
Lean Angle ◽  
Human Powered

Feedback control of a human-powered single-track bicycle is investigated through the use of a linearized dynamical model in order to develop feedback gains that can be implemented by a human pilot in an actual vehicle. The object of the control scheme is to satisfy two goals: balance and tracking. The pilot should be able not only to keep the vehicle upright but also to direct the forward motion as desired. The two control inputs, steering angle and rider lean angle, are assumed to be determined by the rider as a product of feedback gains and “measured” values of the state variables: vehicle lean, lateral deviation from the desired trajectory, and their derivatives. Feedback gains are determined through linear quadratic regulator theory. This results in two control schemes, a “full” optimal feedback control and a less complicated technique that is more likely to be usable by an inexperienced pilot. Theoretical optimally controlled trajectories are compared with experimental trajectories in a lane change maneuver.

scholarly journals Obstacle Avoidance of Two-Wheel Differential Robots Considering the Uncertainty of Robot Motion on the Basis of Encoder Odometry Information

Sensors ◽  
2019 ◽  
Vol 19 (2) ◽  
pp. 289 ◽  
Author(s):  
Jiyong Jin ◽  
Woojin Chung
Keyword(s):  
Obstacle Avoidance ◽  
Experimental Results ◽  
Robot Motion ◽  
Control Performance ◽  
Velocity Control ◽  
Uncertainty Sources ◽  
Control Scheme ◽  
Collision Safety ◽  
Different Types ◽  
Simulation Results

It is important to overcome different types of uncertainties for the safe and reliable navigation of mobile robots. Uncertainty sources can be categorized into recognition, motion, and environmental sources. Although several challenges of recognition uncertainty have been addressed, little attention has been paid to motion uncertainty. This study shows how the uncertainties of robot motions can be quantitatively modeled through experiments. Although the practical motion uncertainties are affected by various factors, this research focuses on the velocity control performance of wheels obtained by encoder sensors. Experimental results show that the velocity control errors of practical robots are not negligible. This paper proposes a new motion control scheme toward reliable obstacle avoidance by reflecting the experimental motion uncertainties. The presented experimental results clearly show that the consideration of the motion uncertainty is essential for successful collision avoidance. The presented simulation results show that a robot cannot move through narrow passages owing to a risk of collision when the uncertainty of motion is high. This research shows that the proposed method accurately reflects the motion uncertainty and balances the collision safety with the navigation efficiency of the robot.

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