A Robust Approach to Dynamic Feedback Linearization for a Steerable Nips Mechanism

2008 ◽  
Author(s):  
Edgar I. Ergueta ◽  
Robert Seifried ◽  
Roberto Horowitz
Keyword(s):  
Control Strategy ◽  
Feedback Linearization ◽  
Position Control ◽  
Control Strategies ◽  
Successful Implementation ◽  
Experimental Setup ◽  
Dynamic Feedback ◽  
Robust Approach ◽  
Internal Loops ◽  
Steerable Nips

This paper presents two different control strategies for paper position control in printing devices. The first strategy is based on feedback linearization plus dynamic extension (dynamic feed-back linearization). Even though this controller is very simple to design, we show that it is not able to handle actuator multiplicative uncertainties, and therefore it fails when it is implemented on the experimental setup. The second strategy we present uses similar concepts, but it is more robust since feedback linearization is used only to linearize the kinematics of the system and internal loops are used to locally control the actuator’s positions and velocities. Not only do we prove the robustness of the second control strategy, but we also show its successful implementation.

A Robust Approach to Dynamic Feedback Linearization for a Steerable Nips Mechanism

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
Edgar I. Ergueta ◽  
Robert Seifried ◽  
Roberto Horowitz
Keyword(s):  
Control Strategy ◽  
Feedback Linearization ◽  
Position Control ◽  
Control Strategies ◽  
Successful Implementation ◽  
Experimental Setup ◽  
Dynamic Feedback ◽  
Robust Approach ◽  
Internal Loops ◽  
Steerable Nips

This paper presents two different control strategies for paper position control in printing devices. The first strategy is based on standard feedback linearization plus dynamic extension (dynamic feedback linearization). Even though this controller is very simple to design, we show that it is not able to handle actuator multiplicative uncertainties, and therefore, it fails when it is implemented on the experimental setup. The second strategy we present uses similar concepts, but it is more robust since feedback linearization is used only to linearize the kinematics of the system and internal loops are used to locally control the actuator’s positions and velocities. In this paper, not only do we formally prove the robustness of the second control strategy but we also show its successful implementation.

scholarly journals Patient-Centered Robot-Aided Passive Neurorehabilitation Exercise Based on Safety-Motion Decision-Making Mechanism

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Lizheng Pan ◽  
Aiguo Song ◽  
Suolin Duan ◽  
Zhuqing Yu
Keyword(s):  
Decision Making ◽  
Control Strategy ◽  
Position Control ◽  
Impedance Control ◽  
Control Strategies ◽  
Movement Speed ◽  
Stroke Patients ◽  
Patient Centered ◽  
Motion Speed ◽  
Clinical Experiments

Safety is one of the crucial issues for robot-aided neurorehabilitation exercise. When it comes to the passive rehabilitation training for stroke patients, the existing control strategies are usually just based on position control to carry out the training, and the patient is out of the controller. However, to some extent, the patient should be taken as a “cooperator” of the training activity, and the movement speed and range of the training movement should be dynamically regulated according to the internal or external state of the subject, just as what the therapist does in clinical therapy. This research presents a novel motion control strategy for patient-centered robot-aided passive neurorehabilitation exercise from the point of the safety. The safety-motion decision-making mechanism is developed to online observe and assess the physical state of training impaired-limb and motion performances and regulate the training parameters (motion speed and training rage), ensuring the safety of the supplied rehabilitation exercise. Meanwhile, position-based impedance control is employed to realize the trajectory tracking motion with interactive compliance. Functional experiments and clinical experiments are investigated with a healthy adult and four recruited stroke patients, respectively. The two types of experimental results demonstrate that the suggested control strategy not only serves with safety-motion training but also presents rehabilitation efficacy.

scholarly journals Research on multidimensional evaluation of tracking control strategies for self-driving vehicles

2020 ◽  
Vol 12 (3) ◽  
pp. 168781402091296 ◽  
Author(s):  
Yuan-yuan Ren ◽  
Jie Wang ◽  
Xue-lian Zheng ◽  
Qi-chao Zhao ◽  
Jia-lei Ma ◽  
...  
Keyword(s):  
Performance Evaluation ◽  
Feedback Control ◽  
Control Strategy ◽  
Tracking Control ◽  
Evaluation System ◽  
Feedforward Control ◽  
Control Strategies ◽  
Dynamic Feedback ◽  
Multidimensional Evaluation ◽  
Control Dynamic

Performance evaluation is a necessary stage in development of tracking control strategy of autonomous vehicle system, which determines the scope of application and promotes further improvement. At present, most of the tracking control strategies include performance evaluation. However, performance evaluation criteria differ from work to work, lacking comprehensive evaluation system. This article proposes a multidimensional integrated tracking control evaluation system based on subjective and objective weighting, taking into account the tracking accuracy, driving stability, and ride comfort. Through the co-simulation of CarSim and Simulink, qualitative analysis and quantitative analysis based on multidimensional evaluation system of five coupled longitudinal and lateral control strategies (lateral: pure pursuit feedforward control, dynamic-model-based optimal curvature control (dynamic feedforward control), Stanley feedback control, kinematics feedback control, and dynamic feedback control; longitudinal: the incremental proportion–integration–differentiation control) under typical operating conditions are carried out to analyze the operating range and robustness of each tracking control strategy. The results show that the Stanley tracking control strategy and the dynamic feedback tracking control strategy have a wide range of applications and robustness. The consistency of qualitative analysis results and the quantitative analysis results verify the validity and feasibility of the evaluation system.

Position control and performance analysis of hydraulic system using two pump-controlling strategies

2018 ◽  
Vol 233 (9) ◽  
pp. 1093-1105 ◽  
Author(s):  
Gyan Wrat ◽  
Prabhat Ranjan ◽  
Mohit Bhola ◽  
Santosh Kumar Mishra ◽  
J Das
Keyword(s):  
Control Strategy ◽  
Position Control ◽  
Control Strategies ◽  
Speed Control ◽  
Hydraulic Systems ◽  
Proportional Integral Derivative ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral ◽  
Actuation System ◽  
Swash Plate

The role of hydraulic systems is quite evident especially in the case of heavy machineries employed in industries, where the utilisation of high forces amid large stiffness is the prerequisite. Nevertheless, there has been substantial effort put forward in the development of advanced control strategies which finally addressed the issue of the position control. Proportional–integral–derivative control strategy happens to be one among them, which is a versatile and widely renowned approach involved in the position control in this study. Although, it is quite frequently observed that the hydraulic actuation system possesses strong nonlinearities. In this article, two different actuator position control strategies, that is, swash plate control of main pump and speed control strategy of prime mover are compared. In swash plate control strategy, the proportional–integral–derivative controller adjusts the swash plate of main pump through servo mechanism, whereas in the speed control strategy, the proportional–integral–derivative controller adjusts the speed of the electric motor through variable-frequency drive. For this purpose, two MATLAB-Simulink models are developed and validated experimentally. It is found that swash plate control strategy has better dynamic and control performance than the speed control strategy catering same position demand of the linear actuator.

Finite-Time Settling Control of a Flexible Arm

1994 ◽  
Vol 208 (2) ◽  
pp. 79-87 ◽  
Author(s):  
S Choura
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Position Control ◽  
Feedforward Control ◽  
Control Strategies ◽  
State Space Model ◽  
Control Law ◽  
Flexible Beam ◽  
Flexible Arm ◽  
Finite Set

This paper considers the position control of a flexible beam attached to a rotating rigid hub. The control torque is applied at the hub through a motor. A state-space model describing the motion of the flexible beam is developed and is employed in the design of the control law. The finite-time settling control strategy that combines feedback and feedforward is applied to the beam problem. The feedback part is separately designed to resolve the issues of asymptotic stability and robustness to uncertainties. The feedforward part simultaneously suppresses the rigid-body mode and a finite set of flexible modes at the end of manoeuvre and, therefore, it is the part responsible for the finite-time settling of the beam to its final configuration. It is shown that if the finite-time settling control is compared with previously developed control strategies under the same input bound constraint, it leads to a better suppression of vibrations at the end of manoeuvre, provided that a sufficient number of flexible modes are incorporated in the computation of the feedforward control law. A robustness test is carried out to show the viability of the control strategy supported by computer simulations.

scholarly journals Model-Based Design of an Improved Electric Drive Controller for High-Precision Applications Based on Feedback Linearization Technique

Electronics ◽  
2021 ◽  
Vol 10 (23) ◽  
pp. 2954
Author(s):  
Pierpaolo Dini ◽  
Sergio Saponara
Keyword(s):  
Embedded System ◽  
Control Strategy ◽  
Feedback Linearization ◽  
Position Control ◽  
Design Flow ◽  
Control Technique ◽  
End Effector ◽  
Electrical Drives ◽  
Advanced Control ◽  
Physical Phenomena

This paper presents the design flow of an advanced non-linear control strategy, able to absorb the effects that the main causes of torque oscillations, concerning synchronous electrical drives, cause on the positioning of the end-effector of a manipulator robot. The control technique used requires an exhaustive modelling of the physical phenomena that cause the electromagnetic torque oscillations. In particular, the Cogging and Stribeck effects are taken into account, whose mathematical model is incorporated in the whole system of dynamic equations representing the complex mechatronic system, formed by the mechanics of the robot links and the dynamics of the actuators. Both the modelling procedure of the robot, directly incorporating the dynamics of the actuators and the electrical drive, consisting of the modulation system and inverter, and the systematic procedure necessary to obtain the equations of the components of the control vector are described in detail. Using the Processor-In-the-Loop (PIL) paradigm for a Cortex-A53 based embedded system, the beneficial effect of the proposed advanced control strategy is validated in terms of end-effector position control, in which we compare classic control system with the proposed algorithm, in order to highlight the better performance in precision and in reducing oscillations.

scholarly journals A Closed-Loop Strategy of Active Differential Clutch Control

2009 ◽  
Author(s):  
Vladimir Ivanovic´ ◽  
Josˇko Deur ◽  
Matthew Hancock ◽  
Francis Assadian
Keyword(s):  
Control Strategy ◽  
Closed Loop ◽  
Position Control ◽  
Free Play ◽  
Applied Force ◽  
Experimental Setup ◽  
Wet Clutch ◽  
Strategy Performance ◽  
Analysis Of Dynamics ◽  
Clutch Control

The paper presents experimentally supported control-oriented analysis of dynamics of an active differential wet clutch actuated by a geared DC motor. A closed-loop clutch control strategy is proposed. The strategy is based on experimentally obtained hysteresis-free clutch applied force vs. motor position curve and related closed-loop motor position control. A controller algorithm is proposed to compensate for the effect of clutch free-play variations due to clutch wear. The proposed control strategy performance is verified on a wet clutch experimental setup.

Coordinated speed and position control of integrated motor-transmission system

2021 ◽  
pp. 014233122110151
Author(s):  
Wei Li ◽  
Chen Kang ◽  
Xiaoyuan Zhu
Keyword(s):  
Control Strategy ◽  
Position Control ◽  
Control Strategies ◽  
Axial Position ◽  
Position Tracking ◽  
Motor Speed ◽  
Displacement Control ◽  
Time Value ◽  
Dynamical Characteristics ◽  
Speed Change

In this paper, a coordinated driving motor speed and shifting motor displacement control strategy is proposed for the integrated motor-transmission (IMT) system during the gearshift process. For active speed synchronization of IMT system, speed reference to driving motor is redesigned by using a polynomial speed trajectory. Compared with conventional step speed change reference, it can help improve the ride performance of IMT system. While in the gear release as well as engagement phase, a robust optimal preview controller is developed for the shifting motor to realize rapid and reliable position tracking of the sleeve in spite of load disturbance. Based on real time value of the driving motor speed and also sleeve axial position, proposed speed and position controllers are coordinated in plan during the whole gearshift process. Co-simulations with Matlab/Simulink and AMEsim are conducted to demonstrate dynamical characteristics of the IMT system during the whole gear shifting process, in which a two-layer switching logic is built by using Matlab/Stateflow. Comparative simulation tests are carried out to show the effectiveness as well as performance of proposed control strategies.

scholarly journals Lyapunov-Function-Based Feedback Linearization Control Strategy of Modular Multilevel Converter–Bidirectional DC–DC Converter for Vessel Integrated Power Systems

Energies ◽  
2021 ◽  
Vol 14 (15) ◽  
pp. 4691
Author(s):  
Peng Chen ◽  
Jilong Liu ◽  
Fei Xiao ◽  
Zhichao Zhu ◽  
Zhaojie Huang
Keyword(s):  
Energy Storage ◽  
Lyapunov Function ◽  
Power Systems ◽  
Control Strategy ◽  
Feedback Linearization ◽  
High Efficiency ◽  
Control Strategies ◽  
Modular Multilevel Converter ◽  
Multilevel Converter ◽  
Feedback Linearization Control

The modular multilevel converter–bidirectional DC–DC converter (MMC–BDC) has been proposed to be utilized in the vessel integrated power system to interconnect the medium voltage bus and the distributed energy storage elements. In the shipboard applications, MMC–BDC faces unbalanced sub-module power operation because of the inconsistent state-of-charge (SOC) of the energy storage elements. Researchers have investigated into the unbalanced operation principle of MMC–BDC and proposed some unbalanced operation control strategies, but these traditional strategies do not perform well in both aspects of operating range and efficiency. Therefore, this paper proposes a novel Lyapunov-function-based feedback linearization control strategy for the independent sub-module voltage control of MMC–BDC, which not only shows wide unbalanced operation range and high efficiency, but also realizes the decoupling and symmetrical control of the sub-module capacitor voltages.

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