scholarly journals Delay-Dependent Stability in Uncalibrated Image-Based Dynamic Visual Servoing Robotic System

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-14 ◽  
Author(s):  
Tao Li ◽  
Hui Zhao ◽  
Yu Chang
Keyword(s):  
Visual Servoing ◽  
Adaptive Controller ◽  
System Stability ◽  
Robotic Systems ◽  
Negative Effects ◽  
Control Scheme ◽  
The Stability ◽  
Delay Dependent ◽  
Delay Dependent Stability ◽  
The Relationship

This paper addresses the stability problem of uncalibrated image-based visual servoing robotic systems. Both the visual feedback delay and the uncalibrated visual parameters can be the sources of instability for visual servoing robotic systems. To eliminate the negative effects caused by kinematic uncertainties and delays, we propose an adaptive controller including the delay-affected Jacobian matrix and design an adaptive law accordingly. Besides, the delay-dependent stability conditions are provided to show the relationship between the system stability and the delayed time in order to obtain less conservative results. A Lyapunov-Krasovskii functional is constructed, and a rigorously mathematic proof is given. Finally, the simulation results are presented to show the effectiveness of the proposed control scheme.

scholarly journals Improved Stability Criteria of Static Recurrent Neural Networks with a Time-Varying Delay

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Lei Ding ◽  
Hong-Bing Zeng ◽  
Wei Wang ◽  
Fei Yu
Keyword(s):  
Neural Networks ◽  
Recurrent Neural Networks ◽  
Linear Matrix ◽  
Time Varying ◽  
Time Varying Delay ◽  
Improved Stability ◽  
The Stability ◽  
Delay Dependent ◽  
Delay Dependent Stability ◽  
Varying Delay

This paper investigates the stability of static recurrent neural networks (SRNNs) with a time-varying delay. Based on the complete delay-decomposing approach and quadratic separation framework, a novel Lyapunov-Krasovskii functional is constructed. By employing a reciprocally convex technique to consider the relationship between the time-varying delay and its varying interval, some improved delay-dependent stability conditions are presented in terms of linear matrix inequalities (LMIs). Finally, a numerical example is provided to show the merits and the effectiveness of the proposed methods.

Simulation Studies on Model Reference Adaptive Controller for Permanent Magnet Synchronous Motor Drive

2011 ◽  
Vol 268-270 ◽  
pp. 509-512 ◽  
Author(s):  
Zhi Yong Qu ◽  
Zheng Mao Ye
Keyword(s):  
Permanent Magnet ◽  
Permanent Magnet Synchronous Motor ◽  
Adaptive Controller ◽  
Fast Response ◽  
Synchronous Motor ◽  
System Stability ◽  
Motor Drive ◽  
Simulation Studies ◽  
The Stability ◽  
Model Reference Adaptive

Permanent magnet synchronous motor systems are usually used in industry. This kind of systems is nonlinear in nature and generally difficult to control. The ordinary linear constant gain controller will cause overshoot or even loss of system stability. Application of adaptive controller to a permanent magnet synchronous motor system is investigated in this paper. The dynamic model of the system is given and the stability is also analyzed using Popov's criterion. The steady state error can be eliminated using adaptive controller combined with an integration term. Simulation results show the performance of adaptive controller with fast response and less overshoot.

An Improved Delay-Dependent Stability Criterion for a Class of Lur’e Systems of Neutral Type

2011 ◽  
Vol 134 (1) ◽  
Author(s):  
K. Ramakrishnan ◽  
G. Ray
Keyword(s):  
Stability Analysis ◽  
Stability Criterion ◽  
Time Derivative ◽  
Neutral Type ◽  
Linear Matrix ◽  
Lur’E Systems ◽  
The Stability ◽  
Delay Dependent ◽  
Bounded Nonlinearity ◽  
Delay Dependent Stability

In this paper, we consider the problem of delay-dependent stability of a class of Lur’e systems of neutral type with time-varying delays and sector-bounded nonlinearity using Lyapunov–Krasovskii (LK) functional approach. By using a candidate LK functional in the stability analysis, a less conservative absolute stability criterion is derived in terms of linear matrix inequalities (LMIs). In addition to the LK functional, conservatism in the proposed stability analysis is further reduced by imposing tighter bounding on the time-derivative of the functional without neglecting any useful terms using minimal number of slack matrix variables. The proposed analysis, subsequently, yields a stability criterion in convex LMI framework, and is solved nonconservatively at boundary conditions using standard LMI solvers. The effectiveness of the proposed criterion is demonstrated through a standard numerical example and Chua’s circuit.

Improved Delay-Dependent Stability of Nonlinear Quadratic TS Fuzzy Systems

2019 ◽  
Vol 29 (09) ◽  
pp. 2050134 ◽  
Author(s):  
Khadija Naamane ◽  
El Houssaine Tissir
Keyword(s):  
Fuzzy Systems ◽  
Model Transformation ◽  
Linear Matrix ◽  
Time Varying Delay ◽  
Small Gain ◽  
The Stability ◽  
Delay Dependent ◽  
Takagi Sugeno ◽  
Delay Dependent Stability ◽  
Varying Delay

This paper focuses on the problem of delay-dependent stability for nonlinear quadratic Takagi–Sugeno (TS) fuzzy systems with time-varying delay using the input–output approach. The results are based on the model transformation by employing a three-terms approximation of delayed state vector. By applying the scaled small-gain theorem and Lyapunov–Krasovskii functional, the stability criteria is obtained in terms of linear matrix inequalities. Furthermore, the Wirtinger-based integral inequality approach has been employed to derive less conservative results. Finally, the numerical examples are provided to demonstrate the effectiveness of the obtained results and for comparison with previous work.

Modeling and Stability Analysis of Dynamic Control Through a Soft Interface

2006 ◽  
Vol 18 (3) ◽  
pp. 242-248 ◽  
Author(s):  
Mizuho Shibata ◽  
◽  
Shinichi Hirai
Keyword(s):  
Stability Analysis ◽  
Discrete Time ◽  
Feedforward Control ◽  
Dynamic Control ◽  
System Stability ◽  
Critical Stability ◽  
Runge Kutta Method ◽  
The Stability ◽  
The Relationship ◽  
Soft Interface

To analyze the stability of dynamic control through asoft interface-the viscoelastic material between a manipulating finger and a manipulated object- we model dynamic control through the soft interface in continuous-discrete time. We then formulate dynamics using a modified z-transform in continuous-discrete time for feedback and feedforward control. We show that system stability depends on the viscoelasticity of the soft interface for feedback control. The relationship between material viscosity and sampling time in critical stability is not monotonous, a phenomenon we analyze by root locus. We compare stability analysis by the modified z-transform, simulations based on the Runge-Kutta method, and a regular z-transform, demonstrating that the relationship is specific to a continuous-discrete time.

Stability of nonlinear time-delay systems satisfying a quadratic constraint

2016 ◽  
Vol 40 (3) ◽  
pp. 712-718 ◽  
Author(s):  
Mohsen Ekramian ◽  
Mohammad Ataei ◽  
Soroush Talebi
Keyword(s):  
Time Delay ◽  
Uncertain Systems ◽  
Delay Systems ◽  
Linear Matrix ◽  
Time Delay Systems ◽  
Matrix Inequalities ◽  
Quadratic Constraint ◽  
The Stability ◽  
Delay Dependent ◽  
Delay Dependent Stability

The stability problem of nonlinear time-delay systems is addressed. A quadratic constraint is employed to exploit the structure of nonlinearity in dynamical systems via a set of multiplier matrices. This yields less conservative results concerning stability analysis. By employing a Wirtinger-based inequality, a delay-dependent stability criterion is derived in terms of linear matrix inequalities for the nominal and uncertain systems. A numerical example is used to demonstrate the effectiveness of the proposed stability conditions in dealing with some larger class of nonlinearities.

Switch-Based Sliding Mode Control for Position-Based Visual Servoing of Robotic Riveting System

2016 ◽  
Vol 139 (4) ◽  
Author(s):  
Yi Min Zhao ◽  
Yu Lin ◽  
Fengfeng Xi ◽  
Shuai Guo ◽  
Puren Ouyang
Keyword(s):  
Visual Servoing ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Path Following ◽  
External Disturbances ◽  
Control Scheme ◽  
Riveting Process ◽  
The Stability ◽  
Time Required ◽  
Two Stages

The robotic riveting system requires a rivet robotic positioning process for rivet-in-hole insertions, which can be divided into two stages: rivet path-following and rivet spot-positioning. For the first stage, varying parameter-linear sliding surfaces are proposed to achieve robust rivet path-following against robot errors and external disturbances of the robotic riveting system. For the second stage, a second-order sliding surface is applied to attain accurate rivet spot-positioning within a finite time required by the riveting process. In order to improve the dynamic performance of the robot riveting system, the motion of robot end-effector between the two adjacent riveting spots has been properly designed. Overall, the proposed control scheme can guarantee not only the stability of the robot control system but also the robust rivet path-following and quick rivet spot-positioning in the presence of the robot errors and external disturbances of the robotic riveting system. The simulation and experimental results demonstrate the effectiveness of the proposed control scheme.

scholarly journals Stability of delay neural networks with uncertainties via delayed intermittent control

2019 ◽  
Vol 2019 (1) ◽  
Author(s):  
Yujuan Tian ◽  
Fei Wang ◽  
Yao Wang ◽  
Xiaodi Li
Keyword(s):  
Neural Networks ◽  
Functional Method ◽  
Asymptotical Stability ◽  
Linear Matrix ◽  
Intermittent Control ◽  
Weighting Matrix ◽  
Control Scheme ◽  
Globally Asymptotical Stability ◽  
The Stability ◽  
Delay Dependent

Abstract In this paper, we investigate the stability of neural networks with both time-varying delays and uncertainties. A novel delayed intermittent control scheme is designed to ensure the globally asymptotical stability of the addressed system. Some new delay dependent sufficient criteria for globally asymptotical stability results are derived in term of linear matrix inequalities (LMIs) by using free-weighting matrix techniques and Lyapunov–Krasovskii functional method. Finally, a numerical simulation is provided to show the effectiveness of the proposed approach.

Adaptive control for networked uncertain cooperative dual-arm manipulators: an event-triggered approach

Robotica ◽  
2021 ◽  
pp. 1-28
Author(s):  
Mohamed Abbas ◽  
Santosha K. Dwivedy
Keyword(s):  
Adaptive Controller ◽  
System Stability ◽  
Superior Performance ◽  
Network Resources ◽  
Control Approach ◽  
Control Scheme ◽  
Adaptive Motion ◽  
Triggering Conditions ◽  
Internal Forces ◽  
Event Triggered

Abstract In this paper, an improved adaptive motion-force control approach is introduced to control the cooperative manipulators transporting a shared object under limited communication. The adaptive controller is designed based on the backstepping approach to control the motion of the handled object in the presence of uncertainties and external disturbances. Moreover, the force controller is established to maintain constant internal forces. An event-triggered (ET) mechanism is derived based on the Lyapunov analysis to deal with the bandwidth restrictions and maintain the system stability during the cooperative manipulation. The effectiveness of the proposed control scheme is investigated by comparing it with the existing variations of adaptive backstepping control (i.e., traditional and state augmented schemes). Moreover, the designed triggering mechanism is compared with different triggering conditions presented in the literature. The proposed control approach is further validated in a more realistic virtual robot experimentation platform (i.e., V-REP) using two SCORBOT-ER VPlus manipulators. From the TrueTime-based simulation runs, the proposed control scheme exhibits superior performance in tandem with efficient utilization of the network resources during the transportation task.

scholarly journals A Distributed Formation Control Scheme with Obstacle Avoidance for Multiagent Systems

2019 ◽  
Vol 2019 ◽  
pp. 1-16 ◽  
Author(s):  
Xiaowu Yang ◽  
Xiaoping Fan
Keyword(s):  
Obstacle Avoidance ◽  
Multiagent Systems ◽  
Formation Control ◽  
Adaptive Controller ◽  
Control Input ◽  
Control Laws ◽  
Integral Term ◽  
Control Scheme ◽  
The Stability ◽  
Avoidance Problem

This study considers the problem of formation control for second-order multiagent systems. We propose a distributed nonlinear formation controller where the control input of each follower can be expressed as a product of a nonlinear term that relies on the distance errors under the leader–follower structure. In the leader–follower structure, a small number of agents are assumed to be the leaders, and they are responsible for steering a group of agents to the specific destination, while the rest of the agents are called followers. The stability of the proposed control laws is demonstrated by utilizing the Lyapunov function candidate. To solve the obstacle avoidance problem, the artificial potential approach is employed, and the agents can avoid each possible obstacle successfully without getting stuck in any local minimum point. The control problem of multiagent systems in the presence of unknown constant disturbances is also considered. To attenuate such disturbances, the integral term is introduced, and the static error is eliminated through the proposed PI controller, which makes the system stable; the adaptive controller is designed to reduce the effect of time-varying disturbances. Finally, numerical simulation results are presented to support the obtained theoretical results.

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