scholarly journals Impedance with Finite-Time Control Scheme for Robot-Environment Interaction

2020 ◽  
Vol 2020 ◽  
pp. 1-18 ◽  
Author(s):  
Heyu Hu ◽  
Xiaoqi Wang ◽  
Lerui Chen
Keyword(s):  
Finite Time ◽  
Impedance Control ◽  
Tracking Performance ◽  
Position Tracking ◽  
Environment Interaction ◽  
Robot System ◽  
Outer Loop ◽  
Time Control ◽  
Control Scheme ◽  
Force Tracking

For the robot system with the uncertain model and unknown environment parameters, a control scheme combining impedance and finite time is proposed. In order to obtain accurate force control performance indirectly by using position tracking, the control scheme is divided into two parts: an outer loop for force impedance control and an inner loop for position tracking control. In the outer loop, in order to eliminate the force tracking error quickly, the impedance control based on force is adopted; when the robot contacts with the environment, the satisfactory force tracking performance can be obtained. In the inner loop, the finite-time control method based on the homogeneous system is used. Through this method, the desired virtual trajectory generated by the outer loop can be tracked, and the contact force tracking performance can be obtained indirectly in the direction of force. This method does not need the dynamics model knowledge of the robot system, thus avoiding the online real-time calculation of the inverse dynamics of the robot. The unknown uncertainty and external interference of the system are obtained online by using the time-delay estimation, and the control process is effectively compensated, so the algorithm is simple, the convergence speed is fast, and the practical application is easy. The theory of finite-time stability is used to prove that the closed-loop system is finite-time stable, and the effectiveness of the algorithm is proved by simulations.

scholarly journals Position/Force Tracking Impedance Control for Robotic Systems with Uncertainties Based on Adaptive Jacobian and Neural Network

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-16 ◽  
Author(s):  
Jinzhu Peng ◽  
Zeqi Yang ◽  
Tianlei Ma
Keyword(s):  
Neural Network ◽  
Impedance Control ◽  
Tracking Error ◽  
Tracking Performance ◽  
Robotic Systems ◽  
Position Tracking ◽  
External Disturbances ◽  
Outer Loop ◽  
Control Scheme ◽  
Force Tracking

In this paper, an adaptive Jacobian and neural network based position/force tracking impedance control scheme is proposed for controlling robotic systems with uncertainties and external disturbances. To achieve precise force control performance indirectly by using the position tracking, the control scheme is divided into two parts: the outer-loop force impedance control and the inner-loop position tracking control. In the outer-loop, an improved impedance controller, which combines the traditional impedance relationship with the PID-like scheme, is designed to eliminate the force tracking error quickly and to reduce the force overshoot effectively. In this way, the satisfied force tracking performance can be achieved when the manipulator contacts with environment. In the inner-loop, an adaptive Jacobian method is proposed to estimate the velocities and interaction torques of the end-effector due to the system kinematical uncertainties, and the system dynamical uncertainties and the uncertain term of adaptive Jacobian are compensated by an adaptive radial basis function neural network (RBFNN). Then, a robust term is designed to compensate the external disturbances and the approximation errors of RBFNN. In this way, the command position trajectories generated from the outer-loop force impedance controller can be then tracked so that the contact force tracking performance can be achieved indirectly in the forced direction. Based on the Lyapunov stability theorem, it is proved that all the signals in closed-loop system are bounded and the position and velocity errors are asymptotic convergence to zero. Finally, the validity of the control scheme is shown by computer simulation on a two-link robotic manipulator.

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

2021 ◽  
pp. 095440622098482
Author(s):  
Oladayo S Ajani ◽  
Samy FM Assal
Keyword(s):  
Impedance Control ◽  
Environmental Parameters ◽  
Robotic System ◽  
Robotic Systems ◽  
Full Potential ◽  
Robotic Assistance ◽  
Head Pose ◽  
Detection And Tracking ◽  
Control Scheme ◽  
Force Tracking

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

scholarly journals Distributed Finite-Time Secondary Frequency and Voltage Restoration Control Scheme of an Islanded AC Microgrid

Energies ◽  
2021 ◽  
Vol 14 (19) ◽  
pp. 6266
Author(s):  
Junjie Ma ◽  
Xudong Wang ◽  
Siyan Zhang ◽  
Hanying Gao
Keyword(s):  
Power Distribution ◽  
Finite Time ◽  
Voltage Drop ◽  
Impedance Control ◽  
Reference Value ◽  
Voltage Regulation ◽  
Active Power ◽  
Power Sharing ◽  
Control Scheme ◽  
Voltage Deviation

To solve the problems of frequency and voltage deviation caused by the droop control while meeting the requirements of rapid response, a distributed finite-time secondary control scheme is presented. Unlike the traditional cooperative controllers, this scheme is fully distributed; each unit only needs to communicate with its immediate neighbors. A control protocol for frequency restoration and active power sharing is proposed to synchronize the frequency of each unit to the reference value, and achieve accurate active power distribution in a finite-time manner as well. The mismatch of the line impedance is considered, and a consensus-based adaptive virtual impedance control is proposed. The associated voltage drop is considered to be the compensator for the voltage regulation. Then, a distributed finite-time protocol for voltage restoration is designed. The finite-time convergence property and the upper bound of convergence times are guaranteed with rigorous Lyapunov proofs. Case studies in MATLAB are carried out, and the results demonstrate the effectiveness, the robustness to load changes, plug-and play capacity, and better convergence performance of the proposed control scheme.

A force reflecting control scheme for telemanipulators with high reduction ratio joint

Robotica ◽  
2002 ◽  
Vol 20 (1) ◽  
pp. 69-79 ◽  
Author(s):  
Sung-Ho Ahn ◽  
Ji-Sup Yoon ◽  
Sang-Jeong Lee
Keyword(s):  
Input Saturation ◽  
High Ratio ◽  
Reduction Ratio ◽  
Tracking Performance ◽  
Position Tracking ◽  
Control Input ◽  
Slow Dynamics ◽  
Control Scheme ◽  
High Reduction ◽  
The Stability

Since a slave manipulator with a high reduction ratio joint generally has slow dynamics in comparison with a master manipulator in telemanipulation systems, its control input is likely to be saturated resulting in poor position tracking performance and deteriorated stability. This paper proposes a force reflecting control scheme for telemanipulators with a high reduction ratio joint, which can effectively compensate the control input saturation caused by the high ratio gear reducer at its joint. The proposed scheme is also shown to guarantee the stability and provides an excellent position tracking performance regardless of the saturation.

A Flight Control Scheme to Improve Position Tracking Performance of Rotary-wing UASs

2013 ◽  
Vol 46 (10) ◽  
pp. 1-8
Author(s):  
Xilin Yang ◽  
Luis Mejias Alvarez ◽  
Matt Garratt ◽  
Hemanshu Pota
Keyword(s):  
Flight Control ◽  
Tracking Performance ◽  
Position Tracking ◽  
Control Scheme ◽  
Rotary Wing

The Research of Digital Double Close-Loop DC Speed Regulation System Based on ATMega8

2011 ◽  
Vol 328-330 ◽  
pp. 1828-1831
Author(s):  
Jian Hui Wang ◽  
Li Zhang ◽  
Yun Long
Keyword(s):  
Voltage Regulation ◽  
Experimental Results ◽  
Tracking Performance ◽  
Regulation System ◽  
Motor Speed ◽  
Outer Loop ◽  
Current Feedback ◽  
Speed Regulation ◽  
Control Scheme

The design of Digital Double Close-loop DC Speed Regulation System which we introduce in this article is based on the numeric control scheme, and using ATMega8 as the main controller, also with PI arithmetic, so as to construct a double close-loop DC Speed Regulation System with inner loop of current feedback and outer loop of speed feedback. The approach of motor speed regulation is through the voltage regulation. Experimental results show that the system has robustness, fast and good tracking performance.

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