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.

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.

A New Backstepping Sliding Control Technique for Hybrid Vehicles Engine Idle Speed Control

2012 ◽  
Vol 466-467 ◽  
pp. 901-906
Author(s):  
Dong Song Luo ◽  
Hai Feng Zhao
Keyword(s):  
Sliding Mode ◽  
Speed Control ◽  
Hybrid Vehicles ◽  
Control Technique ◽  
Simplified Model ◽  
Sliding Mode Controller ◽  
Control Performance ◽  
Idle Speed ◽  
Idle Speed Control ◽  
Simulation Results

In the paper, the idle speed control problem for hybrid vehicles engine is investigated. The mathematics equations about dynamic characteristic of engine’s primary subsystems are presented in the view of the physical characters of engine. A new back stepping sliding mode controller was designed based on the simplified model of engine, and the simulation results show the great improvement of engine control performance, especially to overcome the disturbance.

Model-based PID control of a crane spreader by four auxiliary cables

2006 ◽  
Vol 220 (8) ◽  
pp. 1151-1165 ◽  
Author(s):  
D-H Kim ◽  
J-W Lee
Keyword(s):  
Pid Control ◽  
Null Space ◽  
External Disturbance ◽  
Dynamic Control ◽  
Control Law ◽  
Inverse Dynamic ◽  
Tension Distribution ◽  
Model Based ◽  
Inverse Dynamic Control ◽  
Main Cables

This article presents the anti-sway and anti-skew control of a container crane that is widely used in cargo terminals. A four-cable suspended spreader is used to load and unload the container. In such a loading/unloading process, the spreader has usually residual oscillation, the sway and skew, due to the motion of the trolley and the gantry or an external disturbance such as wind. Thus, it is difficult to locate the container at the desired position quickly and precisely. In order to suppress the residual oscillation, this article proposes the use of four auxiliary cables added to four main cables. Using null space, the tension of the redundant auxiliary cables, i.e. the optimal tension distribution among four auxiliary cables, is achieved. The inverse dynamic control and a model-based proportional and integral and derivative (PID) control is applied to derive the control law. The effectiveness of the proposed tension assignment for the auxiliary cables and the model-based PID control algorithm are verified by computer simulations.

Solving the inverse dynamic control for low cost real-time industrial robot control applications

Robotica ◽  
2003 ◽  
Vol 21 (3) ◽  
pp. 261-269 ◽  
Author(s):  
A. Valera ◽  
V. Mata ◽  
M. Vallés ◽  
F. Valero ◽  
N. Rosillo ◽  
...  
Keyword(s):  
Real Time ◽  
Robot Control ◽  
Industrial Robot ◽  
Low Cost ◽  
Equations Of Motion ◽  
Dynamic Control ◽  
Open Architecture ◽  
Control Technique ◽  
Generation Task ◽  
Inverse Dynamic

This work deals with the real-time robot control implementation. In this paper, an algorithm for solving Inverse Dynamic Problem based on the Gibbs-Appell equations is proposed and verified. It is developed using mainly vectorial variables, and the equations are expressed in a recursive form, it has a computational complexity of O(n). This algorithm will be compared with one based on Newton-Euler equations of motion, formulated in a similar way, and using mainly vectors in their recursive formulation. This algorithm was implemented in an industrial PUMA robot. For the robot control a new and open architecture based on PC had been implemented. The architecture used has two main advantages. First it provides a total open control architecture, and second it is not expensive. Because the controller is based on PC, any control technique can be programmed and implemented, and in this way the PUMA can work on high level tasks, such as automatic trajectory generation, task planning, control by artificial vision, etc.

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