Path Tracking Design Based on Jerk Input Fractional Prefilter and Jerk Limited Input Shaper Approaches

2007 ◽  
Author(s):  
Pierre Melchior ◽  
Rim Jallouli-Khlif ◽  
Bruno Orsoni ◽  
Nabil Derbel ◽  
Alain Oustaloup
Keyword(s):  
Closed Loop ◽  
Maximum Velocity ◽  
Path Tracking ◽  
Fractional Differentiation ◽  
Minimum Path ◽  
Input Shaper ◽  
Time Domains ◽  
Optimal Movement ◽  
Jerk Limitation ◽  
Reference Input

In path tracking design, different methods were developed. In previous works we have presented a method based on fractional differentiation in order to reduce overshoots on the actuator output. It allows the generation of an optimal movement reference-input leading to a minimum path completion time, taking into account the maximum velocity, acceleration and jerk, and the bandwidth of the closed-loop on which the input is applied. Different strategies were developed. In this paper, three methods taking into account the jerk limitation are compared. A comparison with classical input shaper approach is also done. The two first methods, based on fractional differentiation, are used through a Davidson-Cole prefilter with acceleration or jerk bang bang input, to ensure continuity on acceleration and jerk signals on the actuator. The third approach is based on preshaper synthesis with jerk limited input; the shaped input is obtained by convolving desired input with an impulse sequence. The synthesis methodologies of the different methods are studied. Performances are compared on an example, in both frequency and time domains.

Closed-loop system disturbance recovery

2003 ◽  
Vol 217 (6) ◽  
pp. 631-649 ◽  
Author(s):  
R Whalley ◽  
M Ebrahimi
Keyword(s):  
Closed Loop ◽  
Low Frequency ◽  
Closed Loop Control ◽  
Multivariable System ◽  
Closed Loop System ◽  
Outer Loop ◽  
Loop Control ◽  
Passive Network ◽  
Loop Tuning ◽  
Reference Input

The regulation of linearized multivariable system models, following input set point and load disturbance changes, is considered. An inner and outer closed-loop control strategy is outlined, enabling targeted recovery rates, offset attenuation and low steady state interaction to be achieved. Proportional control and passive network compensation alone are employed. Gain ratio selection and outer loop tuning are exercised, ensuring thereby the confinement of output perturbations to low-frequency load disturbances and reference input changes. Application studies are presented for purposes of comparison.

Considerations for Minimum Lap Time Calculation on a Race Track

2002 ◽  
Author(s):  
Marco Di Pierro ◽  
Juergen Schuller
Keyword(s):  
Virtual Environment ◽  
Closed Loop ◽  
Maximum Velocity ◽  
Driver Model ◽  
Vehicle Modeling ◽  
Time Calculation ◽  
Race Track ◽  
Planning Strategies ◽  
Arbitrary Trajectory

While methods for vehicle modeling are well established for simulation of handling behavior, there is still a lack of driver models, which are important for the realization of closed-loop maneuvers in a virtual environment. This paper will present preliminary considerations for the development of such a driver model. First, trajectory planning strategies have to be generated and evaluated. To achieve this, a method will be deduced, which calculates the maximum velocity at each point of an arbitrary trajectory, taking into account simplified vehicle characteristics in terms of maximum longitudinal and lateral accelerations and considering the frictional ellipse. Thus, the minimum necessary time for each trajectory can be calculated, this being a possible parameter to rate the quality of a trajectory for a given course. The feasibility of the method is demonstrated with the Nuerburgring race track.

Path Tracking Based on Closed-Loop Control for a Quadruped Robot in a Cluttered Environment

2002 ◽  
Vol 124 (2) ◽  
pp. 272-280 ◽  
Author(s):  
Xuedong Chen ◽  
Keigo Watanabe ◽  
Kazuo Kiguchi ◽  
Kiyotaka Izumi
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Dead Reckoning ◽  
Static Stability ◽  
Quadruped Robot ◽  
Path Tracking ◽  
Closed Loop Control ◽  
Loop Control ◽  
Cluttered Environment ◽  
Walking Environment

In this paper, the path tracking control is studied for a quadruped robot, named TITAN-VIII, walking in a cluttered environment. A simple and efficient algorithm of path planning is proposed, which is characterized by finding turning-point in the walking environment for the robot. The generalized gait algorithm based on the static stability is presented for the continuous and omnidirectional crawl of the robot. Especially, the real-time robot localization in the walking environment, which is the key to the settlement of the path tracking control, is realized by dead-reckoning for the quadruped robot. Based on the above work, we design the closed-loop control architecture so that the robot is able to track the desired path in an obstacle-strewn environment. The reliability and effectiveness of the proposed method is demonstrated through the experimental results.

Digital robust preview control of path tracking

2005 ◽  
Vol 219 (1) ◽  
pp. 111-116
Author(s):  
Y G Tan ◽  
D K Liu ◽  
F Liu ◽  
Z D Zhou
Keyword(s):  
Control Systems ◽  
Tracking Control ◽  
Control Method ◽  
Path Tracking ◽  
Trajectory Control ◽  
Control Problems ◽  
Preview Control ◽  
Input Signals ◽  
Simulation Results ◽  
Reference Input

A robust optimal preview control method is presented in this paper for path tracking control problems to improve robustness and tracking precision of path tracking control systems. The known path information is used as reference input signals. Simulation results show that this method is valid not only for improving the performance of highly accurate trajectory control but also for improving system stabilization.

H ∞ Closed-Loop Control for Uncertain Discrete Input-Shaped Systems

2010 ◽  
Vol 132 (4) ◽  
Author(s):  
John Stergiopoulos ◽  
Anthony Tzes
Keyword(s):  
Closed Loop ◽  
Open Loop ◽  
Controller Synthesis ◽  
Linear Quadratic ◽  
Robust Controller ◽  
Loop Control ◽  
System A ◽  
Input Shaper ◽  
Uncertain Input ◽  
Plant Simulation

The article addresses the problem of stabilization for uncertain discrete input-shaped systems. The uncertainty affects the autoregressive portion of the transfer function of the system. A discrete input shaper compensator is designed in order to reduce the oscillations of the plant’s response. The input-shaped system’s dynamics are appropriately reformulated for robust controller synthesis, and a robust H∞-controller is used in an outer-loop, in order to guarantee stability of the uncertain input-shaped plant. Simulation results confirm the efficacy of the proposed combined scheme in comparison with open-loop input shaping and closed-loop linear quadratic control.

scholarly journals Adaptive Impedance Control of Robot Manipulators with Parametric Uncertainty for Constrained Path–Tracking

2018 ◽  
Vol 28 (2) ◽  
pp. 363-374 ◽  
Author(s):  
Isela Bonilla ◽  
Marco Mendoza ◽  
Daniel U. Campos-Delgado ◽  
Diana E. Hernández-Alfaro
Keyword(s):  
Closed Loop ◽  
Impedance Control ◽  
Robot Manipulators ◽  
Parametric Uncertainty ◽  
Continuous Functions ◽  
Path Tracking ◽  
Robotic System ◽  
Loop System ◽  
Closed Loop System ◽  
Adaptive Impedance Control

Abstract The main impedance control schemes in the task space require accurate knowledge of the kinematics and dynamics of the robotic system to be controlled. In order to eliminate this dependence and preserve the structure of this kind of algorithms, this paper presents an adaptive impedance control approach to robot manipulators with kinematic and dynamic parametric uncertainty. The proposed scheme is an inverse dynamics control law that leads to the closed-loop system having a PD structure whose equilibrium point converges asymptotically to zero according to the formal stability analysis in the Lyapunov sense. In addition, the general structure of the scheme is composed of continuous functions and includes the modeling of most of the physical phenomena present in the dynamics of the robotic system. The main feature of this control scheme is that it allows precise path tracking in both free and constrained spaces (if the robot is in contact with the environment). The proper behavior of the closed-loop system is validated using a two degree-of-freedom robotic arm. For this benchmark good results were obtained and the control objective was achieved despite neglecting non modeled dynamics, such as viscous and Coulomb friction.

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