Dynamic Walk of a Quadruped Locomotion Robot Using Robust Optimal Tracking Control

1995 ◽  
Author(s):  
Hiroaki Uchida ◽  
Kenzo Nonami
Keyword(s):  
Optimal Control ◽  
High Frequency ◽  
Tracking Control ◽  
Control Method ◽  
Reaction Force ◽  
The Body ◽  
High Frequency Vibration ◽  
Quadruped Locomotion ◽  
Optimal Tracking ◽  
Optimal Tracking Control

Abstract We propose a new control system design strategy that is called “frequency-shaped optimal tracking control method” in this paper. We make sure that the proposed method is very useful by creating the quasi-dynamic walk of a quadruped locomotion robot. During control of the locomotion robot, high feedback (FB) gains should be selected to work against the force and the moment from the body and the reaction force from the ground. However, if high FB gains are used, high frequency vibration comes out because of the backlash of the gear. Frequency-shaped optimal control is the control method to improve the robustness against the disturbance like high frequency vibration. Frequency-shaped optimal tracking control extends the frequency-shaped optimal control to the servo system like the trajectory following control of the robot. First, we’ll show the design scheme of the frequency-shaped optimal tracking control. Next, we’ll show how decentralized control is realized in order to apply frequency-shaped optimal tracking control. Finally, we’ll compare the frequency-shaped optimal tracking control with the optimal tracking control from the points of view of the simulations and the experiments.

scholarly journals Online Optimal Control of Robotic Systems with Single Critic NN-Based Reinforcement Learning

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-7
Author(s):  
Xiaoyi Long ◽  
Zheng He ◽  
Zhongyuan Wang
Keyword(s):  
Optimal Control ◽  
Reinforcement Learning ◽  
Tracking Control ◽  
Learning Algorithm ◽  
Tracking Error ◽  
Adaptive Dynamic Programming ◽  
Robotic Systems ◽  
Control Synthesis ◽  
Optimal Tracking ◽  
Optimal Tracking Control

This paper suggests an online solution for the optimal tracking control of robotic systems based on a single critic neural network (NN)-based reinforcement learning (RL) method. To this end, we rewrite the robotic system model as a state-space form, which will facilitate the realization of optimal tracking control synthesis. To maintain the tracking response, a steady-state control is designed, and then an adaptive optimal tracking control is used to ensure that the tracking error can achieve convergence in an optimal sense. To solve the obtained optimal control via the framework of adaptive dynamic programming (ADP), the command trajectory to be tracked and the modified tracking Hamilton-Jacobi-Bellman (HJB) are all formulated. An online RL algorithm is the developed to address the HJB equation using a critic NN with online learning algorithm. Simulation results are given to verify the effectiveness of the proposed method.

Optimal Tracking Control of Multi-Zone Indoor Environmental Spaces

1995 ◽  
Vol 117 (3) ◽  
pp. 292-303 ◽  
Author(s):  
M. Zaheer-uddin ◽  
R. V. Patel
Keyword(s):  
Optimal Control ◽  
Tracking Control ◽  
Control Law ◽  
Closed Loop System ◽  
Order Model ◽  
Fast Subsystem ◽  
Reduced Order ◽  
Optimal Tracking ◽  
Optimal Tracking Control ◽  
Slow Subsystem

Optimal control of indoor environmental spaces is explored. A physical model of the system consisting of a heating system, a distribution system and an environmental zone is considered and a seventh order bilinear system model is developed. From the physical characteristics and open-loop response of the system, it is shown that the overall system consists of a fast subsystem and a slow subsystem. By including the effects of the slow subsystem in the fast subsystem, a reduced order model is developed. An optimal control law is designed based on the reduced order model and it is implemented on the full order nonlinear system. Both local and global linearization techniques are used to design optimal control laws. Results showing the disturbance rejection characteristics of the resulting closed-loop system are presented. The use of optimal tracking control to implement large changes in setpoints, in a prescribed manner, is also examined. A general model to describe environmental zones is proposed and its application to multi-zone spaces is illustrated. A multiple-input optimal tracking control law with output error integrators is designed. The resulting closed-loop system response to step-like disturbances is shown to be good.

Optimal Tracking Control for Discrete-time Systems with Time-delay Based on the Preview Control Method

2019 ◽  
Vol 7 (5) ◽  
pp. 452-461
Author(s):  
Haishan Xu ◽  
Fucheng Liao
Keyword(s):  
Optimal Control ◽  
Time Delay ◽  
Discrete Time ◽  
Tracking Control ◽  
Control Method ◽  
Reference Signal ◽  
Control Law ◽  
Preview Control ◽  
Optimal Tracking ◽  
Delayed System

Abstract In this paper, the optimal tracking control problem for discrete-time with state and input delays is studied based on the preview control method. First, a transformation is introduced. Thus, the system is transformed into a non-delayed system and the tracking problem of the time-delay system is transformed into the regulation problem of a non-delayed system via processing of the reference signal. Then, by applying the preview control theory, an augmented system for the non-delayed system is derived, and a controller with preview function is designed, assuming that the reference signal is previewable. Finally, the optimal control law of the augmented error system and the optimal control law of the original system are obtained by letting the preview length of the reference signal go to zero.

scholarly journals Event-triggered-based Cooperative Game Optimal Tracking Control for Modular Robot Manipulator with Constrained Input

2021 ◽  
Author(s):  
Yuanchun Li ◽  
Chongyang Wei ◽  
Tianjiao An ◽  
Bing Ma ◽  
BO DONG
Keyword(s):  
Control Problem ◽  
Cooperative Game ◽  
Control Strategy ◽  
Tracking Control ◽  
Control Method ◽  
Modular Robot ◽  
Optimal Tracking ◽  
Optimal Tracking Control ◽  
Event Triggered ◽  
Constrained Input

Abstract In this paper, a cooperative game optimal tracking control method based on event-triggered mechanism for constrained input modular robot manipulators (MRMs) system is introduced. According to the joint torque feedback (JTF) technique, the dynamics model of the constrained input subsystem is established and the global state space equation is derived. The control inputs of $n$ joints in the MRM system with constrained input are taken as $n$ participants of cooperative game, the tracking control problem of the manipulator system is transformed into the optimal control problem based on the cooperative game. Next, a fusion function containing position and velocity errors is defined to construct the performance index function. In order to improve the control performance and robustness of the manipulator system, part of the known model information is used to devise controller, the model uncertainty is dealt by the neural network (NN) observer, and the optimal compensation control strategy is used to deal with internal disturbance such as sensor measurement error and transmission ripple due to power fluctuations, electromagnetic effects, noise and vibration. Based on the adaptive dynamic programming (ADP) algorithm and event-triggered mechanism, the optimal tracking control strategy is obtained by approximately solving the event-triggered Hamilton-Jacobi-Bellman (HJB) equation with the critic NN. The Lyapunov theory proves that trajectory tracking error of MRM system with constrained input is uniformly ultimately bounded (UUB). Finally, the experimental results demonstrate the effectiveness of the proposed control method.

Improved Online Optimization-Based Optimal Tracking Control Method for Induction Motor Drives

2020 ◽  
Vol 35 (10) ◽  
pp. 10654-10672 ◽  
Author(s):  
Rasul Tarvirdilu-Asl ◽  
Shamsuddeen Nalakath ◽  
Zekun Xia ◽  
Yingguang Sun ◽  
Jason Wiseman ◽  
...  
Keyword(s):  
Induction Motor ◽  
Tracking Control ◽  
Control Method ◽  
Motor Drives ◽  
Online Optimization ◽  
Induction Motor Drives ◽  
Optimal Tracking ◽  
Optimal Tracking Control

scholarly journals Design of an Online Nonlinear Optimal Tracking Control Method for Unmanned Ground Systems

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 65429-65438 ◽  
Author(s):  
Jie Liu ◽  
Wei Han ◽  
Yong Zhang ◽  
Zhigang Chen ◽  
Haijun Peng
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Optimal Tracking ◽  
Optimal Tracking Control ◽  
Ground Systems
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