scholarly journals Trajectory Tracking Control of Parallel Manipulator Based on Udwadia-Kalaba Approach

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Chenming Li ◽  
Han Zhao ◽  
Shengchao Zhen ◽  
Kang Huang ◽  
Hao Sun ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Parallel Manipulator ◽  
Structural Constraints ◽  
Constraint Forces ◽  
Trajectory Tracking Control ◽  
Lagrangian Multipliers ◽  
Explicit Equation ◽  
Performance Constraints ◽  
And Performance

There have been many approaches for achieving the trajectory tracking control of parallel manipulator. However, these approaches are complex for calculating Lagrangian multipliers. In this paper, unlike the former approaches, a new approach of trajectory tracking control which is based on Udwadia-Kalaba approach is presented. Using this methodology, we can obtain a concise and explicit equation of motion and consider holonomic and nonholonomic constraint whether it is ideal or nonideal simultaneously. The most important difference is that we divide constraints into structural constraints and performance constraints in this paper. Structural constraints are used to establish dynamic model without regard for trajectory control. And performance constraints are used to represent the desired trajectory. For the parallel manipulator, a nonlinear dynamics system, its constraint forces are obtained by second-order constraints. And the numerical simulation in MATLAB shows the parallel manipulator’s movement meets the requirement; tracking trajectory is exact and perfect. Through this paper, we can see that the method can simplify calculation availably.

A hierarchical constraint approach for dynamic modeling and trajectory tracking control of a mobile robot

2021 ◽  
pp. 107754632199918
Author(s):  
Rongrong Yu ◽  
Shuhui Ding ◽  
Heqiang Tian ◽  
Ye-Hwa Chen
Keyword(s):  
Mobile Robot ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Structural Constraints ◽  
Control Force ◽  
Trajectory Tracking Control ◽  
Motion Constraints ◽  
Constraint Approach

The dynamic modeling and trajectory tracking control of a mobile robot is handled by a hierarchical constraint approach in this study. When the wheeled mobile robot with complex generalized coordinates has structural constraints and motion constraints, the number of constraints is large and the properties of them are different. Therefore, it is difficult to get the dynamic model and trajectory tracking control force of the wheeled mobile robot at the same time. To solve the aforementioned problem, a creative hierarchical constraint approach based on the Udwadia–Kalaba theory is proposed. In this approach, constraints are classified into two levels, structural constraints are the first level and motion constraints are the second level. In the second level constraint, arbitrary initial conditions may cause the trajectory to diverge. Thus, we propose the asymptotic convergence criterion to deal with it. Then, the analytical dynamic equation and trajectory tracking control force of the wheeled mobile robot can be obtained simultaneously. To verify the effectiveness and accuracy of this methodology, a numerical simulation of a three-wheeled mobile robot is carried out.

Modelling and robust attitude trajectory tracking control of 3-DOF four rotor hover vehicle

2017 ◽  
Vol 89 (1) ◽  
pp. 87-98 ◽  
Author(s):  
Rooh ul Amin ◽  
Aijun Li
Keyword(s):  
Robust Stability ◽  
Trajectory Tracking ◽  
Attitude Control ◽  
Tracking Control ◽  
Robust Performance ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Content Type ◽  
Uncertainty Model ◽  
And Performance

Purpose The purpose of this paper is to present μ-synthesis-based robust attitude trajectory tracking control of three degree-of-freedom four rotor hover vehicle. Design/methodology/approach Comprehensive modelling of hover vehicle is presented, followed by development of uncertainty model. A μ-synthesis-based controller is designed using the DK iteration method that not only handles structured and unstructured uncertainties effectively but also guarantees robust performance. The performance of the proposed controller is evaluated through simulations, and the controller is also implemented on experimental platform. Simulation and experimental results validate that μ-synthesis-based robust controller is found effective in: solving robust attitude trajectory tracking problem of multirotor vehicle systems, handling parameter variations and dealing with external disturbances. Findings Performance analysis of the proposed controller guarantees robust stability and also ensures robust trajectory tracking performance for nominal system and for 15-20 per cent variations in the system parameters. In addition, the results also ensure robust handling of wind gusts disturbances. Originality/value This research addresses the robust performance of hover vehicle’s attitude control subjected to uncertainties and external disturbances using μ-synthesis-based controller. This is the only method so far that guarantees robust stability and performance simultaneously.

Modeling and trajectory tracking control of 6-DOF RSS type parallel manipulator

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 643-657 ◽  
Author(s):  
Ahmet Dumlu ◽  
Koksal Erenturk
Keyword(s):  
Dynamic Model ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Parallel Manipulator ◽  
Dynamic Models ◽  
Torque Control ◽  
Complete Model ◽  
Trajectory Tracking Control ◽  
Coupling System

SUMMARYIn this study, kinematic analysis of 6-DOF RSS parallel manipulator using Denavit Hartenbeng (D-H) method is investigated. In addition, in order to improve the proposed method, determination of all the active and passive angles, required to obtain Jacobian and complete dynamic model of manipulator, is also achieved. The effects of dynamic models of 6-DOF RSS parallel manipulator with its actuators on trajectory tracking control are studied in detail. Feedback dynamic compensation terms of motor-mechanism coupling system that is needed to compute torque control are obtained through both a single link approximation model and a complete dynamic model. The complete model is derived by taking account of the interaction between the input links and coupler links of the manipulator. Simulations showed that obtaining complete model of manipulator by means of D-H method and using computed control law could improve the quality of trajectory tracking control of parallel manipulator.

Sign in / Sign up

Export Citation Format

Share Document