Swarm Manipulation of a Disabled Vessel: Elimination of Velocity Measurements

2007 ◽  
Author(s):  
Matthew Feemster
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Tracking Error ◽  
Nonlinear Observer ◽  
Error Signal ◽  
Velocity Measurements ◽  
Model Based ◽  
Position And Orientation ◽  
Improved Performance

In this paper, an observer/controller strategy is developed for a swarm of autonomous tugboats with the collaborative mission of manipulating a disabled surface marine vessel into a desired position and orientation. Specifically, this design focuses on the elimination of direct velocity measurements/calculations during implementation by the formulation of a model based nonlinear observer. The tracking control algorithm is based on the measured tracking error signal as opposed to an estimated tracking error signal in an effort to provide improved performance.

A composite adaptive output feedback tracking controller for robotic manipulators

Robotica ◽  
1999 ◽  
Vol 17 (6) ◽  
pp. 591-600 ◽  
Author(s):  
E. Zergeroglu ◽  
W. Dixon ◽  
D. Haste ◽  
D. Dawson
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Prediction Error ◽  
Tracking Error ◽  
Robotic Manipulators ◽  
Parameter Estimate ◽  
Position Tracking ◽  
Linear Filter ◽  
Velocity Measurements ◽  
Feedback Tracking

This paper provides a solution to the composite adaptive output feedback tracking control problem for robotic manipulators. The proposed controller utilizes an update law that is a composite of a gradient update law driven by the link position tracking error and a least squares update law driven by the prediction error. In order to remove the controller's dependence on link velocity measurements, a linear filter and a new prediction error formulation are designed. The controller provides semi-global asymptotic link position tracking performance. Experimental results illustrate that the proposed controller provides improved link position tracking error transient performance and faster parameter estimate convergence in comparsion to the same controller using a gradient update law.

Design of Optimum Controller of APT Fine Tracking Control System

2013 ◽  
Vol 712-715 ◽  
pp. 2738-2741 ◽  
Author(s):  
Ming Qiu Li ◽  
Shu Hua Jiang
Keyword(s):  
Pid Control ◽  
Tracking Control ◽  
Control Algorithm ◽  
Tracking System ◽  
Dynamic Performance ◽  
Tracking Error ◽  
Stable State ◽  
Response Speed ◽  
Optimum Control ◽  
Performance Requirements

APT (Acquisition, Pointing, and Tracking) system of space laser communication adopts compound axis structure; it consists of coarse tracking and fine tracking system. Its response speed and tracking precision mainly rests with the fine tracking system. Traditional PID control algorithm often is used in APT fine tracking system. In order to improve the dynamic performance of the system and decrease the tracking error, optimum control technology was adopted in this paper. On the basis of considering the system dynamic performance requirements and tracking precision requirement, optimum controller was designed. The simulation result shows that the bandwidth of APT fine tracking system is up to 1310 Hz, and the stable state error is less than 0.002. Compared with PID control, optimum control can improve the tracking performance of system.

Nonlinear Tracking Control of a Transient Hydrostatic Dynamometer for Hybrid Powertrain Research

2010 ◽  
Author(s):  
Yu Wang ◽  
Zongxuan Sun ◽  
Kim A. Stelson
Keyword(s):  
Tracking Control ◽  
Tracking Error ◽  
Weight Ratio ◽  
Pressure Control ◽  
State Feedback Control ◽  
Hybrid Powertrain ◽  
Power Sources ◽  
Model Based ◽  
Nonlinear Tracking ◽  
High Bandwidth

With its superior power to weight ratio, the hydrostatic dynamometer is an ideal candidate for transient engine or powertrain testing. Given its high bandwidth, the hydrostatic dynamometer can be further used as a virtual power source to emulate the dynamics of the automotive hybrid power sources. This will greatly expedite the investigation of various hybrid powertrain architectures and control methodologies without building the complete hybrid system. This paper presents the design, modeling, nonlinear tracking control and experimental investigation of a transient hydrostatic dynamometer. An electronically controlled load sensing mechanism is employed to facilitate the supply pressure control, and a two-stage high bandwidth valve is used as the primary actuator for the loading pressure control. To enable the model-based control, a 9th order physics-based model is formulated and then, identified and validated with experimental data. On this basis, model-based nonlinear tracking controls are designed for this multivariable nonlinear system to realize the precise engine speed tracking. A nonlinear model-based inversion plus PID control is first implemented and then, a state feedback control via feedback linearization is designed for reference tracking. Experimental results demonstrate precise tracking performance with less than 5% tracking error for both transient and steady state operations.

Velocity-Based Control of Manipulator/Vehicle System Floating on Water

1997 ◽  
Vol 9 (5) ◽  
pp. 318-323 ◽  
Author(s):  
Hisashi Kajita ◽  
◽  
Kazuhiro Kosuge
Keyword(s):  
Coordinate System ◽  
Rate Control ◽  
Tracking Control ◽  
Control Algorithm ◽  
Inertial Coordinate System ◽  
Trajectory Tracking Control ◽  
Vehicle System ◽  
Position And Orientation ◽  
The Stability ◽  
External Forces

A manipulator/vehicle system floating on water consists of a vehicle with a manipulator attached to it. Similar to the space manipulator system, the system on water is not fixed to an inertial coordinate system. So, external forces affect the motion of the system. In this paper, we propose an algorithm for controlling the position and orientation of the end-effector of the manipulator/vehicle system in an inertial coordinate system under the assumption that the stability of the vehicle is maintained. We derive the kinematics of the system and propose a trajectory tracking control algorithm based on the resolved motion rate control, then prove convergence of the control algorithm using the Lyapunov's method. Experimental results illustrate the validity of the proposed control algorithm.

Inverse Model Control of a Three Spool Gas Turbine Engine

2005 ◽  
Author(s):  
Shahid Mahmood ◽  
Ian A. Griffin ◽  
Peter J. Fleming ◽  
Arthur J. Shutler
Keyword(s):  
Gas Turbine ◽  
Control Algorithm ◽  
Inverse Model ◽  
Turbine Engine ◽  
Design Procedures ◽  
Model Based ◽  
Model Control ◽  
Transient Control ◽  
Improved Performance ◽  
Gain Scheduled

The Rolls-Royce Inverse Model (RRIM) controller is a nonlinear, model-based fuel control algorithm. This paper compares the model-based design procedures and resulting performance of RRIM control to those of Classical Gain Scheduled (CGS) control for a three-spool gas turbine. It was observed that similar performance levels can be achieved using the RRIM with a significant decrease in tuning effort and design time when compared to CGS control. The RRIM controller also showed improved performance for the case of transient control. The paper indicates how and why the RRIM controller is robust across the operating envelope and highlights the practical advantages it affords to the industrial designer.

scholarly journals Observer-Based Robust Tracking Control for a Class of Switched Nonlinear Cascade Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Ben Niu ◽  
Deqing Zhao ◽  
Xudong Zhao ◽  
Hongyi Li ◽  
Xiangyong Chen ◽  
...  
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Design Procedure ◽  
Nonlinear Observer ◽  
State Transformation ◽  
Robust Tracking Control ◽  
Cascade Systems ◽  
Nonlinear Sliding Mode Control

This paper is devoted to robust output feedback tracking control design for a class of switched nonlinear cascade systems. The main goal is to ensure the global input-to-state stable (ISS) property of the tracking error nonlinear dynamics with respect to the unknown structural system uncertainties and external disturbances. First, a nonlinear observer is constructed through state transformation to reconstruct the unavailable states, where only one parameter should be determined. Then, by virtue of the nonlinear sliding mode control (SMC), a discontinuous nonlinear output feedback controller is designed using a backstepping like design procedure to ensure the ISS property. Finally, an example is provided to show the effectiveness of the proposed approach.

scholarly journals Tracking Control of Single-Axis Feed Drives Based on ADRC and Feedback Linearisation

Electronics ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 1184
Author(s):  
Meng Yuan ◽  
Zhezhuang Xu
Keyword(s):  
Motion Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Algorithm ◽  
Tracking Error ◽  
Coupling Model ◽  
High Fidelity ◽  
High Fidelity Simulation ◽  
External Disturbances ◽  
Feed Drives

The accuracy of manufacturing highly characterises the performance of industrial motion control. However, detrimental effects such as nonlinear coupling, model uncertainty and unknown external disturbances severely affect trajectory tracking performance. In this paper, we proposed an ADRC and feedback linearisation-based control algorithm for the high-precision trajectory tracking of feed drives. The controller was rigorously designed to ensure the convergence of observer states and tracking error. The applicability of the proposed approach was successfully demonstrated via high-fidelity simulation, and the numerical results based on different tracking methods were compared.

Constrained Tracking Control by Gain-Scheduled Feedback With Optimal State Resets: A General Servo Problem and an Online Optimization Method

2016 ◽  
Vol 138 (12) ◽  
Author(s):  
Nobutaka Wada ◽  
Hidekazu Miyahara ◽  
Masami Saeki
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Optimization Problem ◽  
Control Method ◽  
Actuator Saturation ◽  
Tracking Error ◽  
Reference Signal ◽  
Optimal Solution ◽  
Optimization Method ◽  
Experimental Result

In this paper, a tracking control problem for discrete-time linear systems with actuator saturation is addressed. The reference signal is assumed to be generated by an external dynamics. First, a design condition of a controller parameterized by a single scheduling parameter is introduced. The controller includes a servo compensator to achieve zero steady-state error. Then, a control algorithm that guarantees closed-loop stability and makes the tracking error converge to zero is given. In the control algorithm, the controller state as well as the scheduling parameter is updated online so that the tracking control performance is improved. Then, it is shown that the decision problem of the scheduling parameter and the controller state can be transformed into a convex optimization problem with respect to a scalar parameter. Based on this fact, we propose a numerically efficient algorithm for solving the optimization problem. Further, we propose a method of modifying the control algorithm so that the asymptotic tracking property is ensured even when the numerical error exists in the optimal solution. A numerical example and an experimental result are provided to illustrate effectiveness of the proposed control method.

Research on Automatic Digging Control and Algorithm of the Working Device of Skid Steer Loader

2011 ◽  
Vol 66-68 ◽  
pp. 2046-2051
Author(s):  
Bo Liu ◽  
Jie Huang ◽  
Li Wei Guo ◽  
Long Liu
Keyword(s):  
Control System ◽  
Control Algorithm ◽  
Position Control ◽  
Tracking Error ◽  
State Equation ◽  
Planning Problem ◽  
Self Tuning ◽  
Position And Orientation ◽  
Working Device ◽  
Position Control System

Focus on the trajectory planning problem of shovel operations of skid steer loader, a trajectory curve fitting equation is established. By use of the robotics theory and the D-H method, the functional relationship between the kinematics of the working device of skid steer loader and the displacement, position and orientation of boom bucket cylinder is derived, and the driving equation of displacement cylinder is obtained. Based on the requirements of precise trajectory control, an electro-hydraulic proportional position control system for position and orientation control is designed and the state equation of the system is established. By using fuzzy self-tuning PID control algorithm, the outside interference, parameter uncertainty and the error caused by other factors are weakened. The trajectory tracking simulation results demonstrate that: the biggest shovel tracking error is 12.5mm, the designed electro-hydraulic proportional control system can effectively track the trajectory of the working device of skid steer loader in automatic digging process. The rightness of the established model and the effectiveness of the corresponding controller are also proved.

scholarly journals Path Correction of the Boom Road-Header in Coal Mining Based on State Estimation

2019 ◽  
Vol 2019 ◽  
pp. 1-13
Author(s):  
Yuanyuan Qu ◽  
Xin Cheng ◽  
Minjun Zhang ◽  
Shichen Fu ◽  
Miao Wu
Keyword(s):  
State Estimation ◽  
Kalman Filtering ◽  
Trajectory Planning ◽  
Tracking Control ◽  
Control Algorithm ◽  
The Road ◽  
Adverse Impacts ◽  
Orientation Deviation ◽  
Measurement Noises ◽  
Position And Orientation

Trajectory planning and tracking control algorithm based on a position and orientation deviation model are proposed to achieve path correction for the mining boom road-header working underground. The proposed strategy is assessed to be feasible and potentially practicable by simulations, from which the following statements are summarized. Firstly, trajectory planning is necessary since different trajectories correspond to different scenarios about undesirable excavation space, slipping level, and power consumption. Secondly, using the proposed tracking control algorithm, the road-header is guided back onto the expected path in limited adjusting steps, with smoothly varying rotation speeds of the driving wheels and regularly reducing pose errors. Lastly, it shows that by implying the SVD-unscented Kalman filtering in the tracking control, the adverse impacts of process and measurement noises are appeased obviously. This research provides an advisable modeling and valuable simulation for the road-header to achieve robotic operation underground.

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