scholarly journals Robust Fixed-Time Inverse Dynamic Control for Uncertain Robot Manipulator System

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Yang Wang ◽  
Mingshu Chen ◽  
Yu Song
Keyword(s):  
Robust Control ◽  
Inverse Dynamics ◽  
Control Method ◽  
Robot Manipulator ◽  
Dynamic Control ◽  
Fixed Time ◽  
Inverse Dynamic ◽  
Time Control ◽  
Control Scheme ◽  
Inverse Dynamic Control

This paper proposes a novel robust fixed-time control for the robot manipulator system with uncertainties. Based on the uniform robust exact differentiator (URED) algorithm, a robust control term is constructed. Then, a robust fixed-time inverse dynamics control (IDC) is proposed. For the proposed control method, the fixed-time stability of a closed-loop system with uncertainties is strictly proved. The newly proposed method exhibits the following two attractive features. First, the proposed control scheme extends the existing fixed-time IDC for the robot manipulator system to the robust control scheme. Second, the proposed method is strictly nonsingular rather than the commonly used approximate approach. Simulation result demonstrates the effectiveness of the proposed control scheme.

A note on the inverse dynamic control of parallel manipulators

2009 ◽  
Vol 224 (1) ◽  
pp. 25-32 ◽  
Author(s):  
A Omran ◽  
M Elshabasy
Keyword(s):  
Inverse Dynamics ◽  
Dynamic Control ◽  
Closed Form Solution ◽  
Parallel Manipulators ◽  
Joint Space ◽  
Form Solution ◽  
Control Technique ◽  
Inverse Dynamic ◽  
Inverse Dynamics Control ◽  
Inverse Dynamic Control

This work proposes a simple technique for inverse dynamics control of parallel mani-pulators in a joint space. In this technique, there is no need for forward kinematics, which is exacerbated by no closed-form solution for many parallel manipulators. A set of simulations is introduced to signify the validity of the proposed control technique compared with full joint feedback control.

Theory of Temperature Dynamic Control in Arch Dams and its Application

2012 ◽  
Vol 594-597 ◽  
pp. 738-741 ◽  
Author(s):  
Yin Duan ◽  
Xing Hong Liu ◽  
Xiao Lin Chang
Keyword(s):  
Real Time ◽  
Temperature Control ◽  
Control Method ◽  
Dynamic Control ◽  
Arch Dam ◽  
Real Time Control ◽  
New Techniques ◽  
Time Dynamic ◽  
Arch Dams ◽  
Time Control

Main factors of the temperature control and crack prevention in arch dams are summarized. The Space-time Dynamic Control method in pipe cooling process and the Temperature Real-time Control and Decision Database System are introduced to help for temperature real-time control and rapid analysis. Successful application of these new techniques in the construction of Dagangshan arch dam indicates that the proposed method are of significant effectiveness on the temperature control and crack prevention, and have good application prospect in practical project.

Fixed-time fractional-order sliding mode control for nonlinear power systems

2020 ◽  
Vol 26 (17-18) ◽  
pp. 1425-1434 ◽  
Author(s):  
Sunhua Huang ◽  
Jie Wang
Keyword(s):  
Sliding Mode Control ◽  
Power System ◽  
Fractional Order ◽  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Fixed Time ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Time Control

In this study, a fractional-order sliding mode controller is effectively proposed to stabilize a nonlinear power system in a fixed time. State trajectories of a nonlinear power system show nonlinear behaviors on the angle and frequency of the generator, phase angle, and magnitude of the load voltage, which would seriously affect the safe and stable operation of the power grid. Therefore, fractional calculus is applied to design a fractional-order sliding mode controller which can effectively suppress the inherent chattering phenomenon in sliding mode control to make the nonlinear power system converge to the equilibrium point in a fixed time based on the fixed-time stability theory. Compared with the finite-time control method, the convergence time of the proposed fixed-time fractional-order sliding mode controller is not dependent on the initial conditions and can be exactly evaluated, thus overcoming the shortcomings of the finite-time control method. Finally, superior performances of the fractional-order sliding mode controller are effectively verified by comparing with the existing finite-time control methods and integral order sliding mode control through numerical simulations.

Dynamic Control of Curve-Constrained Hyper-Redundant Manipulators

2004 ◽  
Vol 16 (1) ◽  
pp. 1-7 ◽  
Author(s):  
Shugen Ma ◽  
◽  
Mitsuru Watanabe ◽  
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Control ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Real Time Control ◽  
Feed Forward ◽  
Manipulator Dynamics ◽  
Time Control ◽  
Control Scheme ◽  
Feed Forward Controller

Hyper-redundant manipulators have high number of kinematic degrees of freedom, and possess unconventional features such as the ability to enter narrow spaces while avoiding obstacles. To control these hyper-redundant manipulators accurately, manipulator dynamics should be considered. This is, however, time-comsuming and makes implementation of real-time control difficult. In this paper, we propose a dynamic control scheme for hyper-redundant manipulators, which is based on analysis in defined posture space where three parameters were used to determine the manipulator posture. Manipulator dynamics are modeled on the parameterized form with the parameter of the posture space path. The posture space path-tracking feed-forward controller is then formulated on the basis of a parameterized dynamic equation. Computer simulation, in which a hyper-redundant manipulator traces the posture space path well by using the proposed feed-forward controller, proved that the hyper-redundant manipulator tracks the workspace path accurately.

Control of a robot manipulator and pendubot system using artificial neural networks

Robotica ◽  
2005 ◽  
Vol 23 (6) ◽  
pp. 781-784 ◽  
Author(s):  
Joseph Constantin ◽  
Chaïban Nasr ◽  
Denis Hamad
Keyword(s):  
Neural Networks ◽  
Artificial Neural Networks ◽  
Robot Manipulator ◽  
Recursive Algorithm ◽  
Dynamic Control ◽  
Real Time Control ◽  
Time Control ◽  
The Neural Network ◽  
Artificial Neural ◽  
Pendubot System

The paper introduces artificial neural networks for the conventional control of robotic systems for better tracking performance. Different advanced dynamic control techniques are explained and a new second order recursive algorithm has been developed to tune the weights of the neural network. The problem of real-time control of a Pendubot system in difficult situations has been addressed. Examples, such as positioning and balancing structures, are presented and performances are compared to a conventional PD controller.

scholarly journals Using Graphics Processing Units and Compute Shaders in Real Time Multimodel Adaptive Robust Control

Electronics ◽  
2021 ◽  
Vol 10 (20) ◽  
pp. 2462
Author(s):  
Cosmin-Constantin Mihai ◽  
Ciprian Lupu
Keyword(s):  
Robust Control ◽  
Real Time ◽  
Systems Engineering ◽  
Graphics Processing Units ◽  
Adaptive Robust Control ◽  
Real Time Control ◽  
Time Control ◽  
Control Scheme ◽  
Graphics Processing ◽  
Time Systems

Graphics processing units and video cards have seen a surge of usage in domains other than graphics computers, due to advances in hardware and software technologies; however, little uptake has been in the domain of systems engineering and real time control. This research article will demonstrate the use of video cards in multimodel adaptive robust control, using openGL and compute shaders. A software simulation will show the behavior of the adaptive robust multimodel control scheme as the target process is exposed to both parametric and structural disturbances and will show the viability of using graphics processing units in real time systems control.

scholarly journals Dynamic Sliding Mode Control Based on Fractional Calculus Subject to Uncertain Delay Based Chaotic Pneumatic Robot

2020 ◽  
Vol 10 (3) ◽  
pp. 413-420 ◽  
Author(s):  
Sara Gholipour ◽  
Heydar Toosian Shandiz ◽  
Mobin Alizadeh ◽  
Sara Minagar ◽  
Javad Kazemitabar
Keyword(s):  
Fractional Calculus ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Lyapunov Stability Theory ◽  
Mode Control ◽  
Control Scheme ◽  
Dynamic Sliding Mode Control ◽  
Dynamic Sliding Mode

Background & Objective: This paper considers the chattering problem of sliding mode control in the presence of delay in robot manipulator causing chaos in such electromechanical systems. Fractional calculus was used in order to produce a novel sliding mode to eliminate chatter. To realize the control of a class of chaotic systems in master-slave configuration, a novel fractional dynamic sliding mode control scheme is presented and examined on the delay based chaotic robot. Also, the stability of the closed-loop system is guaranteed by Lyapunov stability theory. Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence of system matched disturbances. Results: Moreover, delayed robot motions are sorted out for qualitative and quantitative study. Finally, numerical simulations illustrate feasibility of the proposed control method. Conclusion: The control scheme is viable.

scholarly journals Linear Positional and Speed Control of Servo Carts Using Inverse Dynamic Control

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Ibrahim M. Mehedi ◽  
Mohd Heidir Mohd Shah ◽  
Rahtul Jannat
Keyword(s):  
System Simulation ◽  
Dynamic Control ◽  
Speed Control ◽  
Control Technique ◽  
Robust Controller ◽  
Inverse Dynamic ◽  
Lead Compensator ◽  
Simulation Results ◽  
Inverse Dynamic Control ◽  
Dynamic Inverse

Dynamic inverse- (DI-) based control technique has been utilized in many applications and proven to be effective. Recently, the inverse dynamic control (IDC), an expansion to the classical DI technique, has been trending with implementation in many areas. It has been proved that IDC is capable of overcoming some limitations in DI-based techniques, particularly in cancellation of useful nonlinearities. This paper extends the implementation of IDC on the positional and speed control of the linear servo cart system. Simulation results further proves that IDC is an effective and robust controller evidently when comparing it with the proportional velocity and lead compensator controller.

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