scholarly journals Research on Coordinated Robotic Motion Control Based on Fuzzy Decoupling Method in Fluidic Environments

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Wei Zhang ◽  
Haitian Chen ◽  
Tao Chen ◽  
Zheping Yan ◽  
Hongliang Ren
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Fuzzy Theory ◽  
Autonomous Underwater Vehicles ◽  
Strong Nonlinearity ◽  
Water Tank ◽  
Level Control ◽  
Decoupling Method ◽  
Heading Control ◽  
High Level

The underwater recovery of autonomous underwater vehicles (AUV) is a process of 6-DOF motion control, which is related to characteristics with strong nonlinearity and coupling. In the recovery mission, the vehicle requires high level control accuracy. Considering an AUV called BSAV, this paper established a kinetic model to describe the motion of AUV in the horizontal plane, which consisted of nonlinear equations. On the basis of this model, the main coupling variables were analyzed during recovery. Aiming at the strong coupling problem between the heading control and sway motion, we designed a decoupling compensator based on the fuzzy theory and the decoupling theory. We analyzed to the rules of fuzzy compensation, the input and output membership functions of fuzzy compensator, through compose operation and clear operation of fuzzy reasoning, and obtained decoupling compensation quantity. Simulation results show that the fuzzy decoupling controller effectively reduces the overshoot of the system, and improves the control precision. Through the water tank experiments and analysis of experimental data, the effectiveness and feasibility of AUV recovery movement coordinated control based on fuzzy decoupling method are validated successful, and show that the fuzzy decoupling control method has a high practical value in the recovery mission.

scholarly journals A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-16
Author(s):  
Yang Wang ◽  
Daojin Yao ◽  
Jie He ◽  
Xiaohui Xiao
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Ground Surface ◽  
Step Length ◽  
Bipedal Walking ◽  
Level Control ◽  
Stabilization Method ◽  
Feedforward Controller ◽  
High Level ◽  
Adaptive Feedforward

Both compliance and discontinuity are the common characteristics of the real ground surface. This paper proposes a stabilization method for the underactuated bipedal locomotion on the discontinuous compliant ground. Unlike a totally new control method, the method is actually a high-level control strategy developed based on an existing low-level controller meant for the continuous compliant ground. As a result, although the ground environment is more complex, the calculation cost for the robot walking control system is not increased. With the high-level control strategy, the robot is able to adjust its step-length and velocity simultaneously to stride over the discontinuous areas on the compliant ground surface. The effectiveness of the developed method is validated with a numerical simulation and a physical experiment.

scholarly journals Design, Analysis and Development of Autonomous Underwater vehicle

2019 ◽  
Vol 9 (2) ◽  
pp. 3805-3810
Keyword(s):  
Object Recognition ◽  
Motion Control ◽  
Water Surface ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Heading Control ◽  
Underwater Object ◽  
Institute Of Technology

Autonomous Underwater Vehicles (AUV) are slowly operated unmanned robots which Capable of propelling on pre-defined mission tracks independently under the water surface and are frequently used for oceanographic exploration, bathymetric surveys and defense applications. This AUV can perform underwater object recognition and obstacle avoidance with the use of appropriate sensors and devices. Vidyut is a miniature AUV developed at Sri Sairam Institute of Technology. The vehicle is equipped with six thrusters which allow for motion control in 6 Dof and has a non-conventional single hull heavy bottom hydrodynamic design. This paper discusses different aspects of the vehicle's unique design. The output of the Arduino Uno controller has been discussed for continuous depth and heading control.

scholarly journals Motion Control of Four-Wheel Independently Actuated Electric Ground Vehicles considering Tire Force Saturations

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Rongrong Wang ◽  
Hamid Reza Karimi ◽  
Nan Chen ◽  
Guodong Yin ◽  
Jinxiang Wang
Keyword(s):  
Control Method ◽  
Stability Control ◽  
Ground Vehicles ◽  
Level Control ◽  
Control Approach ◽  
Tire Force ◽  
Vehicle Stability Control ◽  
Tire Forces ◽  
High Level ◽  
Allocation Algorithms

A vehicle stability control approach for four-wheel independently actuated (FWIA) electric vehicles is presented. The proposed control method consists of a higher-level controller and a lower-level controller. An adaptive control-based higher-level controller is designed to yield the vehicle virtual control efforts to track the desired vehicle motions due to the possible modeling inaccuracies and parametric uncertainties. The lower-level controller considering tire force saturation is given to allocate the required control efforts to the four in-wheel motors for providing the desired tire forces. An analytic method is given to distribute the high-level control efforts, without using the numerical-optimization-based control allocation algorithms. Simulations based on a high-fidelity, CarSim, and full-vehicle model show the effectiveness of the control approach.

Hierarchical control of soft manipulators towards unstructured interactions

2021 ◽  
pp. 027836492097936
Author(s):  
Hao Jiang ◽  
Zhanchi Wang ◽  
Yusong Jin ◽  
Xiaotong Chen ◽  
Peijin Li ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Method ◽  
Hierarchical Control ◽  
Training Data ◽  
Text Learning ◽  
Low Level ◽  
Feedback Control Method ◽  
New Perspective ◽  
High Level

Performing daily interaction tasks such as opening doors and pulling drawers in unstructured environments is a challenging problem for robots. The emergence of soft-bodied robots brings a new perspective to solving this problem. In this paper, inspired by humans performing interaction tasks through simple behaviors, we propose a hierarchical control system for soft arms, in which the low-level controller achieves motion control of the arm tip, the high-level controller controls the behaviors of the arm based on the low-level controller, and the top-level planner chooses what behaviors should be taken according to tasks. To realize the motion control of the soft arm in interacting with environments, we propose two control methods. The first is a feedback control method based on a simplified Jacobian model utilizing the motion laws of the soft arm that are not affected by environments during interaction. The second is a control method based on [Formula: see text]-learning, in which we present a novel method to increase training data by setting virtual goals. We implement the hierarchical control system on a platform with the Honeycomb Pneumatic Networks Arm (HPN Arm) and validate the effectiveness of this system on a series of typical daily interaction tasks, which demonstrates this proposed hierarchical control system could render the soft arms to perform interaction tasks as simply as humans, without force sensors or accurate models of the environments. This work provides a new direction for the application of soft-bodied arms and offers a new perspective for the physical interactions between robots and environments.

A novel hybrid closed-loop control approach for dexterous prosthetic hand based on myoelectric control and electrical stimulation

2018 ◽  
Vol 45 (4) ◽  
pp. 526-538 ◽  
Author(s):  
Li Jiang ◽  
Qi Huang ◽  
Dapeng Yang ◽  
Shaowei Fan ◽  
Hong Liu
Keyword(s):  
Motion Control ◽  
Sensory Feedback ◽  
Closed Loop ◽  
Control Method ◽  
Human Motion ◽  
Prosthetic Hand ◽  
Closed Loop Control ◽  
Content Type ◽  
Loop Control ◽  
High Level

Purpose The purpose of this study is to present a novel hybrid closed-loop control method together with its performance validation for the dexterous prosthetic hand. Design/methodology/approach The hybrid closed-loop control is composed of a high-level closed-loop control with the user in the closed loop and a low-level closed-loop control for the direct robot motion control. The authors construct the high-level control loop by using electromyography (EMG)-based human motion intent decoding and electrical stimulation (ES)-based sensory feedback. The human motion intent is decoded by a finite state machine, which can achieve both the patterned motion control and the proportional force control. The sensory feedback is in the form of transcutaneous electrical nerve stimulation (TENS) with spatial-frequency modulation. To suppress the TENS interfering noise, the authors propose biphasic TENS to concentrate the stimulation current and the variable step-size least mean square adaptive filter to cancel the noise. Eight subjects participated in the validation experiments, including pattern selection and egg grasping tasks, to investigate the feasibility of the hybrid closed-loop control in clinical use. Findings The proposed noise cancellation method largely reduces the ES noise artifacts in the EMG electrodes by 18.5 dB on average. Compared with the open-loop control, the proposed hybrid closed-loop control method significantly improves both the pattern selection efficiency and the egg grasping success rate, both in blind operating scenarios (improved by 1.86 s, p < 0.001, and 63.7 per cent, p < 0.001) or in common operating scenarios (improved by 0.49 s, p = 0.008, and 41.3 per cent, p < 0.001). Practical implications The proposed hybrid closed-loop control method can be implemented on a prosthetic hand to improve the operation efficiency and accuracy for fragile objects such as eggs. Originality/value The primary contribution is the proposal of the hybrid closed-loop control, the spatial-frequency modulation method for the sensory feedback and the noise cancellation method for the integrating of the myoelectric control and the ES-based sensory feedback.

Backstepping Control Method for the Trajectory Tracking for the Underactuated Autonomous Underwater Vehicle

2013 ◽  
Vol 798-799 ◽  
pp. 484-488 ◽  
Author(s):  
Lei Wan ◽  
Nan Sun ◽  
Yu Lei Liao
Keyword(s):  
Control System ◽  
Trajectory Tracking ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Autonomous Underwater Vehicles ◽  
Path Following ◽  
Underactuated System ◽  
Strong Nonlinearity ◽  
Parameter Uncertainties ◽  
Path Following Control

The underactuated autonomous underwater vehicles (AUV) have the characteristics of strong nonlinearity and model uncertainty. A method of backstepping path following control was raised for the trajectory tracking control problem of the AUV under Serret-Frenet frame. It transformed the original underactuated system into an actuated nonlinear system based on simplified analysis. A backstepping trajectory tracking controller was proposed based on backstepping method. By means of Lyapunov stability theory, it was proven that the proposed controller can guarantee the path following control system globally asymptotically stable. Simulation experiments show that the control system has good adaptability and robustness in case of parameter uncertainties and external disturbances to avoid shaking of performance.

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