Isotropic Compliance in E(3): Feasibility and Workspace Mapping

2016 ◽  
Vol 8 (6) ◽  
Author(s):  
Matteo Verotti ◽  
Nicola P. Belfiore
Keyword(s):  
Control System ◽  
Euclidean Space ◽  
Joint Control ◽  
Control Law ◽  
Single Input Single Output ◽  
Gain Ratio ◽  
Single Output ◽  
Control Gain ◽  
Single Input ◽  
Manipulator Control

A manipulator control system, for which isotropic compliance holds in the Euclidean space E(3), can be significantly simplified by means of diagonal decoupling. However, such simplification may introduce some limits to the region of the workspace where the sought property can be achieved. The present investigation reveals how to detect which peculiar subset, among four different classes, a given manipulator belongs to. The paper also introduces the concept of control gain ratio for each specific single-input/single-output joint control law in order to limit the maximum gain required to achieve the isotropic compliance condition.

scholarly journals Comparative study of zero effects in pole-placement control system design via the shift and delta transforms

2005 ◽  
Vol 18 (3) ◽  
pp. 439-451
Author(s):  
Milica Naumovic
Keyword(s):  
Control System ◽  
System Design ◽  
Pole Placement ◽  
Control System Design ◽  
Single Input Single Output ◽  
Single Output ◽  
Continuous Time Systems ◽  
Single Input ◽  
Pole Placement Control ◽  
Time Systems

This paper deals with the special replacement of the shift operator and its associated z transform by delta operator and ? transform, respectively. The aim of the paper is to clarify the role of zeros of discretized linear single input single output continuous-time systems modeled by shift and delta operators. In particular, the effect of zero dynamics on the control system design based on classical pole-zero assignment in the case of both operators is considered. The analysis is illustrated by simulation results.

scholarly journals MIMO Passive Control Systems Are Not Necessarily Robust

2015 ◽  
Vol 2015 ◽  
pp. 1-6
Author(s):  
Jesús U. Liceaga-Castro ◽  
Irma I. Siller-Alcalá ◽  
Eduardo Liceaga-Castro ◽  
Luis A. Amézquita-Brooks
Keyword(s):  
Control System ◽  
Structure Function ◽  
Control Systems ◽  
Passive Control ◽  
Linear Control System ◽  
Linear Control ◽  
Single Input Single Output ◽  
Single Output ◽  
Single Input

Via several cases of study it is shown that a passive multivariable linear control system, contrary to its single input single output counterpart, may not be robust. Moreover, it is shown that lack of robustness can be exposed via the multivariable structure function.

Multi-model Fuzzy Modal Control of SISO Nonlinear Plant

2016 ◽  
Vol 14 (4) ◽  
pp. 19-26 ◽  
Author(s):  
V. Lukov ◽  
M. Alexandrova ◽  
N. Nikolov
Keyword(s):  
Fuzzy Controller ◽  
Static Characteristic ◽  
Control Law ◽  
Modal Control ◽  
Single Input Single Output ◽  
Single Output ◽  
Single Input ◽  
Nonlinear Static ◽  
Takagi Sugeno ◽  
Nonlinear Plant

Abstract The article presents the synthesis of a multi-model modal control of single input – single output nonlinear plant, based on Takagi-Sugeno fuzzy controller. For that purpose, the nonlinear static characteristic of the plant is presented by two linear parts. These two linear structures are described in state space. The feedback vectors and the coefficients ki of the modal controllers are calculated. An integral component in the control law is added.

Double-Input Multi-Output Pressure Control System Based on Addressable Pressure Component

2021 ◽  
Author(s):  
Qiandiao Wei ◽  
He Xu ◽  
Siqing Chen ◽  
Weiwang Fan
Keyword(s):  
Control System ◽  
Control Method ◽  
Pressure Control ◽  
Supply Source ◽  
Single Input Single Output ◽  
Square Wave ◽  
Output Pressure ◽  
Single Output ◽  
Pressure Control System ◽  
Single Input

Abstract Soft robots driven by pressurized fluid have recently been attracted more attention and achieved a variety of innovative applications in bionics, medical surgery, rehabilitation, search, and rescue system. And they have been demonstrated to be able to perform many different tasks, especially in some conditions of demand a high degree of compliance. Generally, they consisted of multiple actuate channels that require independent works. Consequently, a mass of pressure regulators and input pipelines are demanded, which will increase the complexity of the control system. To solve this problem, we propose a new pressure control method inspired by the control bus of electronic interface technology in this paper. An addressable pressure control bus system based on band-pass valve (BPV) and square wave of pressure (control signal) was designed. It consisted of a pressure supply source and an addressing signal, they are controled by two regulators, respectively. One of the pressure pipelines serves as the control bus to transmit the control pressure signal, which plays an addressing signal role in the system. The other serves as the pressure supply source of the multi-channel actuators. The BPV can be set to different opening pressure bands to realize the setting of diverse outputs address codes on the bus. This method discovered the work mode of double-input multi-output, which will get rids of the traditional control method of single-input single-output. In this paper, we designed the BPV and tested its function. To demonstrate the feasibility of this method proposed, a control system with two output ports was established. The result has shown that the output port can be selected by the pressure square wave signal, which realizes the function of single input multiple outputs. It reduces the complexity of the control strategy of the fluid control system.

Control of Exoskeletons Inspired by Fictitious Variable Gain in Human

2008 ◽  
Author(s):  
Kyoungchul Kong ◽  
Masayoshi Tomizuka
Keyword(s):  
Control System ◽  
Control Algorithm ◽  
Controller Design ◽  
Assistive Device ◽  
Single Input Single Output ◽  
Variable Gain ◽  
Single Output ◽  
Single Input ◽  
Parallel Control ◽  
The Brain

A human wearing an exoskeleton-type assistive device results in a parallel control system that includes two controllers: the human brain and a digital exoskeleton controller. Unknown and complicated characteristics of the brain dynamically interact with the exoskeleton controller which makes the controller design challenging. In this paper, the motion control system of a human is regarded as a feedback control loop that consists of a brain, muscles and the dynamics of the extended human body. The brain is modeled as a control algorithm amplified by a fictitious variable gain. The variable gain compensates for characteristic changes in the muscle and dynamics. If a human is physically impaired or subjected to demanding work, the exoskeleton should generate proper assistive forces, which is equivalent to increasing the variable gain. In this paper, a control algorithm that realizes the fictitious variable gain is designed and its performance and robustness are discussed for single-input single-output cases. The control algorithm is then verified by simulation results.

scholarly journals Research of Conventional and Observer Based Controller for Three Tank Interacting System

2019 ◽  
Vol 8 (6S4) ◽  
pp. 1527-1531
Keyword(s):  
Pid Controller ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Control Law ◽  
Feed Forward ◽  
Single Input Single Output ◽  
Single Output ◽  
Control Scheme ◽  
Single Input ◽  
Forward Gain

In many Industries, the fault tolerant control scheme have been accepted and used from many decades. In this paper, the observer and the observer based Controller is designed for the three tank interacting system. Initially in this work, the three tank interacting system with Single Input Single Output configuration is modeled and conventional PID controller has been implemented, finally the performances are analyzed. Then the observer is designed for the three tank interacting system. Inorder to design the observer based controller, the control law and the feed forward gain value is calculated and described by Chakrabarti A et al.[4]. Finally the observer based controller performances are also analyzed. In this work, the sensor is replaced by the state observer. The observer based controller provides better performance than the conventional PID controller. This work may lead to design fault tolerant control for three tank interacting system in future.

Two Step Optimization of Transducer Locations in Single Input Single Output Tonal Global Active Noise Control in Enclosures

2010 ◽  
Vol 132 (6) ◽  
Author(s):  
J. Ignacio Palacios ◽  
Jordi Romeu ◽  
Andreu Balastegui
Keyword(s):  
Control System ◽  
Active Control ◽  
Acoustic Field ◽  
Noise Control ◽  
Active Noise Control ◽  
Single Input Single Output ◽  
Secondary Sources ◽  
Single Output ◽  
Active Noise ◽  
Single Input

Global active control of sound can be achieved inside enclosures under low modal acoustic fields. However, the performance of the system depends largely on the localization of the elements of the control system. For a purely acoustic active control system in which secondary acoustic sources (loudspeakers) and pressure transducers (microphones) as error sensors are used, several optimization strategies have been proposed. These strategies usually rely on partial approximation to the problem, focusing on the study of number and localization of secondary sources without considering error transducers, or selecting the best positions of secondary sources and error transducers of an initial set of candidate locations for these elements. The strategy presented here for tonal global active noise control of steady states comprises two steps; the first is rather common for this sort of problem and its goal is to find the best locations for secondary sources and their strengths by minimizing the potential energy of the enclosure. The second step is the localization of the error transducer, which ensures the results of the first step. It is analytically demonstrated that for a single input single output system, the optimum location of error transducers is at a null pressure point of the optimally attenuated acoustic field. It is also shown that in a real case, the optimum position is that of a minimum of the optimally attenuated acoustic field. Finally, a numerical validation of this principle is carried out in a parallelipedic enclosure.

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