scholarly journals Realistic active haptic guided exploration with Cartesian control for force–position tracking in finite time

2006 ◽  
Vol 3 (4) ◽  
pp. 279-289
Author(s):  
O. A. Domínguez-Ramírez ◽  
V. Parra-Vega
Keyword(s):  
Finite Time ◽  
Position Tracking ◽  
Guided Exploration

Finite-time output feedback control for a pneumatic servo system

2016 ◽  
Vol 38 (12) ◽  
pp. 1520-1534 ◽  
Author(s):  
Xiangyu Wang ◽  
Guipu Li ◽  
Shihua Li ◽  
Aiguo Song
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Finite Time ◽  
Tracking Error ◽  
Output Feedback Control ◽  
Feedback Controller ◽  
Nonlinear Observer ◽  
Position Tracking ◽  
Piston Velocity ◽  
Control Scheme

In this paper, the position tracking control problem of pneumatic servo systems is investigated. These systems usually have high nonlinearities and unmeasurable piston velocities. Firstly, by using adding a power integrator technique, a global finite-time state feedback controller is proposed. Secondly, based on homogeneous theory, a nonlinear observer is developed to estimate the piston velocity. Finally, the corresponding output feedback controller is derived, which local finite-time stabilizes the position tracking error system. Compared with the conventional backstepping output feedback control scheme, the developed nonsmooth output feedback control scheme offers a faster convergence rate and a better disturbance rejection property. Numerical simulations illustrate the effectiveness of the proposed control scheme.

scholarly journals Realistic Active Haptic Guided Exploration with Cartesian Control for Force–Position Tracking in Finite Time

2006 ◽  
Vol 3 (4) ◽  
pp. 279-289 ◽  
Author(s):  
O. A. Domínguez-Ramírez ◽  
V. Parra-Vega
Keyword(s):  
Dynamic Model ◽  
Finite Time ◽  
Inverse Kinematics ◽  
Time Base ◽  
Haptic Guidance ◽  
Fast Tracking ◽  
Simultaneous Control ◽  
Guided Exploration ◽  
Basic Issue ◽  
Kinaesthetic Feedback

Perception and interaction with virtual surfaces, through kinaesthetic sensation and visual stimuli, is the basic issue of a haptic interface. When the virtual or real object is in a remote location, and guidance is required to perceive kinaesthetic feedback, a haptic guidance scheme is required. In this document, with purpose of haptic-guided exploration, a new scheme for simultaneous control of force and cartesian position is proposed without using inverse kinematics, and without using the dynamic model of PHANToM, though a strict stability analysis includes the dynamic model of PHANToM. We rely on our previously proposed results to propose a new haptic cartesian controller to reduce the burden of computing cartesian forces in PHANToM. Furthermore, a time base generator for finite-time tracking is also proposed to achieve very fast tracking and high precision, which translated into high fidelity kinaesthetic feedback.

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.

Finite-Time Neural Network Adaptive Control of Under-Actuated Robots

2014 ◽  
Vol 685 ◽  
pp. 271-274 ◽  
Author(s):  
Zhong Qiang Wu ◽  
Li Ling Liu ◽  
Li Ru Zhao
Keyword(s):  
Neural Network ◽  
Adaptive Control ◽  
Control Strategy ◽  
Finite Time ◽  
Adaptive Controller ◽  
Operating Point ◽  
Position Tracking ◽  
Dynamics Model ◽  
Time Control ◽  
The One

The finite-time neural network adaptive control of under-actuated robot is investigated, and a kind of multistep control strategy is used. First the transformation of dynamics model is made, and the passive joints are driven to desire positions by the coupling among joints, then the passive joints are locked. When the passive joints are locked to other operating point, the system becomes the one with structure uncertain. Combining the theory of finite-time control with neural network adaptive control, a finite-time neural network adaptive controller is got which can make the position tracking of joint rapidly. The simulation shows the effectiveness of the controller.

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