Implementing Fuzzy Learning Algorithms in a 6 DOF Hydraulic Parallel Link Manipulator: Control with Actuators’ Forces Fuzzy Compensation

2002 ◽  
Vol 6 (3) ◽  
pp. 100-108 ◽  
Author(s):  
Zakarya Zyada ◽  
◽  
Yasuhisa Hasegawa ◽  
Toshio Fukuda
Keyword(s):  
Motion Control ◽  
Control Algorithm ◽  
Shield Tunnel ◽  
Rule Base ◽  
Hydraulic Actuator ◽  
Force Estimation ◽  
Tunnel Excavation ◽  
Friction Forces ◽  
Parallel Link

This paper proposes fuzzy compensation for actuators’ motion forces, (dynamics, gravity and friction) in a force/motion control algorithm for the assembly of segments of a shield tunnel excavation applying a 6 DOF hydraulic parallel link manipulator. First, we introduce the feedback force/motion control algorithm with fuzzy forces compensation. Then, we introduce a rule-base fuzzy compensating model and its real-time implementation for every hydraulic actuator of a Stewart Platform so that we can reduce the effect of friction forces and hence improve the quality of force control and assembly. The experimental results of the control system with and without fuzzy compensation are presented, which show a good achievement in contact force estimation and manipulator motion utilizing the proposed fuzzy compensation.

Implementing Fuzzy Learning Algorithms in a 6 DOF Hydraulic Parallel Link Manipulator: Actuators' Fuzzy Modeling

2002 ◽  
Vol 14 (4) ◽  
pp. 408-419 ◽  
Author(s):  
Zakarya Zyada ◽  
◽  
Yasuhisa Hasegawa ◽  
Gancho Vachkov ◽  
Toshio Fukuda
Keyword(s):  
Fuzzy Model ◽  
Fuzzy Rule ◽  
Rule Base ◽  
Hydraulic Actuator ◽  
Fuzzy Rule Base ◽  
Learning Rules ◽  
Model Rule ◽  
Parallel Link ◽  
Fuzzy Learning ◽  
Good Agreement

A fuzzy-logic-based model, suitable for force control, for each hydraulic actuator of a parallel link manipulator is presented. Constructing the fuzzy model rule base mainly consists of 2 stages: (1) learning rules from examples for the known acquired input/output data of the hydraulic actuators and (2) completing unknown fuzzy rules from heuristics and experience based on the logic of actuators' behavior. We first present the algorithm of fuzzy-rule base modeling and its application for one actuator. We then present fuzzy rule base results characterizing each hydraulic actuator, differing from one to another, of a 6 DOF parallel link manipulator. Simulation output results from fuzzy models show good agreement with experimental results.

Task-oriented force control of parallel link robot for the assembly of segments of a shield tunnel excavation system

1996 ◽  
Vol 1 (3) ◽  
pp. 250-258 ◽  
Author(s):  
K. Kosuge ◽  
K. Takeo ◽  
D. Taguchi ◽  
T. Fukuda ◽  
H. Murakami
Keyword(s):  
Force Control ◽  
Shield Tunnel ◽  
Tunnel Excavation ◽  
Parallel Link ◽  
Task Oriented

Speed-adaptive motion control algorithm for differential steering vehicle

2020 ◽  
pp. 095440702095058 ◽  
Author(s):  
Peng Du ◽  
Zhongmin Ma ◽  
Hao Chen ◽  
Da Xu ◽  
Yuan Wang ◽  
...  
Keyword(s):  
Motion Control ◽  
High Performance ◽  
Control Algorithm ◽  
Control Method ◽  
Longitudinal Force ◽  
Lateral Stability ◽  
Force Estimation ◽  
Low Friction ◽  
Adaptive Motion ◽  
Differential Steering

The differential steering vehicle uses the in-wheel motors to drive the wheels directly and individually. However, in order to deliver the required structural robustness, the differential steering vehicle discarded the mechanical steering system and achieved vehicle steering by applying differential speed between the left and right wheels. This paper presents a novel speed-adaptive motion control algorithm based on the unique chassis configuration to enhance the performance in vehicle handling and lateral stability. The proposed control method first estimates the driver’s driving intention, from which reference wheel speeds are individually generated for each wheel based on their respective slipping and skidding status. Finally, the torque command is automatically adjusted by the speed-tracking controller by proactive adaptation of the wheel spinning resistance to effectively avoid excessive slip on low friction. This method exploits the fact that the torque at the steady state will always be equal to the available longitudinal force, thereby delivering the sophisticated tire force estimation without additional computational efforts, and ultimately helping conserve energy and promote lateral stability. The essential road information collected by this algorithm is also made available to drivers for improved vehicle controllability. The algorithm is subjected to three experimental case scenarios—pivot steering, low-friction driving, and curvilinear driving—through TruckSim–Simulink co-simulations and real vehicle tests, and the results have validated the algorithm in realizing the high-performance steering and maneuvering capabilities for six-wheeled differential steering vehicles.

scholarly journals Autonomous Navigation of a Team of Unmanned Surface Vehicles for Intercepting Intruders on a Region Boundary

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 297
Author(s):  
Ali Marzoughi ◽  
Andrey V. Savkin
Keyword(s):  
Motion Control ◽  
Autonomous Vehicles ◽  
Autonomous Navigation ◽  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Sufficient Conditions ◽  
Real Life ◽  
Unmanned Surface Vehicles ◽  
Necessary And Sufficient ◽  
See Region

We study problems of intercepting single and multiple invasive intruders on a boundary of a planar region by employing a team of autonomous unmanned surface vehicles. First, the problem of intercepting a single intruder has been studied and then the proposed strategy has been applied to intercepting multiple intruders on the region boundary. Based on the proposed decentralised motion control algorithm and decision making strategy, each autonomous vehicle intercepts any intruder, which tends to leave the region by detecting the most vulnerable point of the boundary. An efficient and simple mathematical rules based control algorithm for navigating the autonomous vehicles on the boundary of the see region is developed. The proposed algorithm is computationally simple and easily implementable in real life intruder interception applications. In this paper, we obtain necessary and sufficient conditions for the existence of a real-time solution to the considered problem of intruder interception. The effectiveness of the proposed method is confirmed by computer simulations with both single and multiple intruders.

Research of H∞ Robust Control for the Giant Die Forging Hydraulic Press’s Synchronous Control System under the Uncertainty Coefficient

2012 ◽  
Vol 190-191 ◽  
pp. 819-824 ◽  
Author(s):  
Ying Jian Deng ◽  
Zhong Wei Liu
Keyword(s):  
Control System ◽  
Robust Control ◽  
Control Algorithm ◽  
Hydraulic Press ◽  
National Defense ◽  
Synchronous Control ◽  
Performance Quality ◽  
System Synchronization ◽  
Uncertainty Coefficient

The giant hydraulic die press is our country national defense and the infrastructure essential equipment, the synchronous control system is the essential device to the giant forging hydraulic press, its synchronization control performance quality is good or bad will directly determine the quality of the product. This article through the proof of the theorem, gives the specific steps to achieve H∞ robust control algorithm. The simulation results show that: this control strategy has good inhibition to the change of system parameters, robustness is very strong, can well eliminate the system synchronization error.

The Synchronization Control of the Hydraulic Press Brake Based on the Virtual Shaft Control Algorithm

2011 ◽  
Vol 383-390 ◽  
pp. 574-579 ◽  
Author(s):  
Guang Fei Liu ◽  
Su Ling Li ◽  
Lei Zhang
Keyword(s):  
Motion Control ◽  
Control Algorithm ◽  
Hydraulic Press ◽  
Synchronization Control ◽  
Existing Problems ◽  
Synchronous System ◽  
Working Principle

This paper simulated the virtual master shaft based on the analysis of the working principle and the existing problems of the hydraulic press brake as well as based on the application of the virtual shaft algorithm in motion control, which directly drive the synchronous system of the hydraulic press brake. We established the model of the virtual master axis and the model of the hydraulic press brake which based on the virtual shaft algorithm, and simulated the models in Mat lab. We obtain the better effect in the accuracy and combination property.

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