The Adaptive Robust Control of Deep-Sea Hydraulic Manipulator With Velocity Observer

2015 ◽  
Author(s):  
Xiaoxu Cao ◽  
Gaosheng Luo ◽  
Linyi Gu ◽  
Yaoyao Wang ◽  
Yihong Xu
Keyword(s):  
Robust Control ◽  
Deep Sea ◽  
Control Method ◽  
Adaptive Robust Control ◽  
Velocity Estimation ◽  
Robust Controller ◽  
External Disturbances ◽  
Hydraulic Manipulator ◽  
Velocity Observer ◽  
Interactive Dynamic

In this paper, the adaptive robust control method with a velocity observer is proposed to control a deep-sea manipulator. The parametric uncertainties and external disturbances make the linear controller invalid, and hydraulic actuator’s dynamics can’t be neglected because hydraulic system’s complex nonlinearity might lead to vibration. To solve the problem, an adaptive robust controller which can also compensate the interactive dynamic effects between manipulator links is developed. The deep-sea manipulators are only installed with angular sensors, so an observer providing the smooth angular velocity estimation is designed. By using the Lyapunov approach, the proposed controller can be proved asymptotically stable for trajectory tracking. The contrast experiments are conducted on a deep-sea hydraulic manipulator, experiment results show the control algorithm could provide a fast, high accuracy tracking, and guarantee the tracking performance when subjected to payload change or a range of different reference signals.

Uniform robust exact differentiator based adaptive robust control for a class of nonlinear systems

2017 ◽  
Vol 40 (9) ◽  
pp. 2901-2911 ◽  
Author(s):  
Zhangbao Xu ◽  
Dawei Ma ◽  
Jianyong Yao
Keyword(s):  
Robust Control ◽  
Nonlinear Systems ◽  
Closed Loop ◽  
Lyapunov Method ◽  
Adaptive Robust Control ◽  
Experimental Results ◽  
Closed Loop System ◽  
Robust Controller ◽  
Performance Simulation ◽  
The Stability

In this paper, an adaptive robust controller with uniform robust exact differentiator has been proposed for a class of nonlinear systems with structured and unstructured uncertainties. The adaptive robust controller is integrated with an uniform robust differentiator to handle the problem of the incalculable part of the derivative of virtual controls and the differential explosion happened in backstepping techniques. The stability of the closed loop system is demonstrated via Lyapunov method ensuring a prescribed transient and tracking performance. Simulation and experimental results are carried out to verify the advantages of the proposed method.

scholarly journals T-S Fuzzy Control of Uncertain Fractional-Order Systems with Time Delay

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Yilin Hao ◽  
Xiulan Zhang
Keyword(s):  
Time Delay ◽  
Fractional Order ◽  
Control Method ◽  
Fuzzy Model ◽  
Linear Structure ◽  
Adaptive Method ◽  
Delay Systems ◽  
Robust Controller ◽  
External Disturbances ◽  
Fuzzy Adaptive

In this article, the adaptive control of uncertain fractional-order time-delay systems (FOTDSs) with external disturbances is discussed. A Takagi-Sugenu (T-S) fuzzy model with if-then rules is adopted to characterize the dynamic equation of the FOTDS. Besides, a fuzzy adaptive method is proposed to stabilize the model. By utilizing the Lyapunov functions, a robust controller is constructed to stabilize the FOTDS. Due to the uncertainty of system parameters, some fractional-order adaptation laws are designed to update these parameters. At the same time, some if-then rules with linear structure based on the fuzzy T-S adaption concept are established. The designed method not only guarantees that the state of closed-loop system asymptotically converges to origin but also keeps the signal in the FOTDS bounded. Finally, the applicability of the control method is proved by simulation examples.

scholarly journals Adaptive robust control for free-floating space robot with unknown uncertainty based on neural network

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141881151
Author(s):  
Zhang Wenhui ◽  
Li Hongsheng ◽  
Ye Xiaoping ◽  
Huang Jiacai ◽  
Huo Mingying
Keyword(s):  
Neural Network ◽  
Mathematical Model ◽  
Robust Control ◽  
Control Method ◽  
External Disturbance ◽  
Adaptive Robust Control ◽  
Lyapunov Theory ◽  
Space Robot ◽  
Neural Network Controller ◽  
The Stability

It is difficult to obtain a precise mathematical model of free-floating space robot for the uncertain factors, such as current measurement technology and external disturbance. Hence, a suitable solution would be an adaptive robust control method based on neural network is proposed for free-floating space robot. The dynamic model of free-floating space robot is established; a computed torque controller based on exact model is designed, and the controller can guarantee the stability of the system. However, in practice, the mathematical model of the system cannot be accurately obtained. Therefore, a neural network controller is proposed to approximate the unknown model in the system, so that the controller avoids dependence on mathematical models. The adaptive learning laws of weights are designed to realize online real-time adjustment. The adaptive robust controller is designed to suppress the external disturbance and compensate the approximation error and improve the robustness and control precision of the system. The stability of closed-loop system is proved based on Lyapunov theory. Simulations tests verify the effectiveness of the proposed control method and are of great significance to free-floating space robot.

2A1-A06 Experiment on Catching an Object of UVMS Using Adaptive Robust Control method

2008 ◽  
Vol 2008 (0) ◽  
pp. _2A1-A06_1-_2A1-A06_4
Author(s):  
Shinichi SAGARA ◽  
Yuichiro Taira ◽  
Gaku Ohnishi ◽  
Masaharu Abe ◽  
Takashi Yatoh
Keyword(s):  
Robust Control ◽  
Control Method ◽  
Adaptive Robust Control

ROBUST CONTROL OF CHAOTIC VIBRATION OF COMPOSITE PLATE IN THE PRESENCE OF NOISE USING SLIDING MODE METHOD

2012 ◽  
Vol 22 (05) ◽  
pp. 1250106
Author(s):  
SHAMRAO ◽  
S. NARAYANAN
Keyword(s):  
Robust Control ◽  
Composite Plate ◽  
Control Method ◽  
Sliding Mode ◽  
Linear Quadratic ◽  
External Disturbances ◽  
Chaotic Vibration ◽  
Mode Method ◽  
Control Methodology ◽  
Cubic Stiffness

Robust control of chaotic vibration in composite plate in the presence of noise using sliding mode control methodology is considered in this paper. The composite plate system has a combination of linear, quadratic and cubic stiffness terms. Robustness of the controller is analyzed with reference to the parametric variations of the system and external disturbances due to noise and compared with Pyragas control method. The composite plate considered is a six-layered rectangular antisymmetric cross-ply plate with immovable edges. The plate is assumed to be viscously damped and harmonically excited.

scholarly journals Enhanced Nonlinear Robust Control for TCSC in Power System

2018 ◽  
Vol 2018 ◽  
pp. 1-11
Author(s):  
Chao Zhang ◽  
Xing Wang ◽  
Zhengfeng Ming ◽  
Zhuang Cai
Keyword(s):  
Adaptive Control ◽  
Time Delay ◽  
Robust Control ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Uncertain Parameter ◽  
Adaptive Backstepping ◽  
External Disturbances ◽  
Backstepping Sliding Mode Control

This paper proposes an enhanced robust control method, which is for thyristor controlled series compensator (TCSC) in presences of time-delay nonlinearity, uncertain parameter, and external disturbances. Unlike conventional adaptive control methods, the uncertain parameter is estimated by using system immersion and manifold invariant (I&I) adaptive control. Thus, the oscillation of states caused by the coupling between parameter estimator and system states can be avoided. In addition, in order to overcome the influences of time-delay nonlinearity and external disturbances, backstepping sliding mode control is adopted to design control law recursively. Furthermore, robustness of TCSC control subsystem is achievable provided that dissipation inequality is satisfied in each step. Effectiveness and efficiencies of the proposed control method are verified by simulations. Compared with adaptive backstepping sliding mode control and adaptive backstepping control, the time of reaching steady state is shortened by at least 11% and the oscillation amplitudes of transient responses are reduced by at most 50%.

The control of the electro-hydraulic shaking table based on dynamic surface adaptive robust control

2016 ◽  
Vol 39 (8) ◽  
pp. 1271-1280 ◽  
Author(s):  
Wei Shen ◽  
Jun-zheng Wang ◽  
Shou-kun Wang
Keyword(s):  
Robust Control ◽  
Computational Cost ◽  
Adaptive Robust Control ◽  
Working Environment ◽  
Shaking Table ◽  
Parameter Uncertainties ◽  
Robust Controller ◽  
Dynamic Surface ◽  
Vibration Direction ◽  
And Control

The electro-hydraulic shaking table is investigated, in the present paper, to simulate the vibrational working environment of industrial components and equipment. Adaptive robust control can be applied to the shaking table system because electro-hydraulic systems suffer from internal parameter uncertainties and external disturbances. However, the adaptive robust controller design is complicated and has a large computational cost owing to the ‘explosion of terms’ problem. Thus dynamic surface control is applied in the design procedure of adaptive robust controllers to overcome the ‘explosion of terms’ problem. In this work, dynamic surface adaptive robust control is proposed. It simplifies the designed procedure of the controller and decreases its computational cost. Firstly, the structure of a shaking table is formulated and the operation principles of the shaking table, including the hydraulic and control principles, are analysed. A change is made in the mechanical-hydraulic system of the fluid circuit to address the problem of changing the vibration direction. Secondly, a dynamic model of a shaking table is proposed. Based on analysis of this model, the design of a dynamic surface adaptive robust controller for a shaking table is presented so as to improve its performance. Finally, comparative simulations and experiments are carried out. The comparison of performance results with proportional-integral-derivative control verify the correctness of the hydraulic scheme and control principle, as well as the high-performance of the dynamic surface adaptive robust controller. The shaking table achieves a guaranteed dynamical performance and tracking accuracy for the output in the presence of parameter and load uncertainties.

Sign in / Sign up

Export Citation Format

Share Document