Feedback regularization and geometric PID control for trajectory tracking of mechanical systems: Hoop robots on an inclined plane

2017 ◽  
Author(s):  
T. W. U. Madhushani ◽  
D. H. S. Maithripala ◽  
J. M. Berg
Keyword(s):  
Trajectory Tracking ◽  
Pid Control ◽  
Mechanical Systems ◽  
Inclined Plane

Output trajectory tracking for mechanical systems with dry friction: A DPC approach

1997 ◽  
Author(s):  
D. von Wissel ◽  
R. Nikoukhah ◽  
F. Delebecque ◽  
P.-A. Bliman ◽  
M. Soline
Keyword(s):  
Trajectory Tracking ◽  
Dry Friction ◽  
Mechanical Systems ◽  
Output Trajectory

scholarly journals Variable Structure Compensation PID Control of Asymmetrical Hydraulic Cylinder Trajectory Tracking

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Difei Liu ◽  
Zhiyong Tang ◽  
Zhongcai Pei
Keyword(s):  
Trajectory Tracking ◽  
Pid Control ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Hydraulic Cylinder ◽  
Control Value ◽  
Equivalent Control ◽  
Asymmetrical Hydraulic Cylinder ◽  
The Stability

A novel variable structure compensation PID control, VSCPID in short, is proposed for trajectory tracking of asymmetrical hydraulic cylinder systems. This new control method improves the system robustness by adding a variable structure compensation term to the conventional PID control. The variable structure term is designed according to sliding mode control method and therefore could compensate the disturbance and uncertainty. Meanwhile, the proposed control method avoids the requirements for exact knowledge of the systems associated with equivalent control value in SMC that means the controller is simple and easy to design. The stability analysis of this approach is conducted with Lyapunov function, and the global stability condition applied to choose control parameters is provided. Simulation results show the VSCPID control can achieve good tracking performances and high robustness compared with the other control methods under the uncertainties and varying load conditions.

Theoretical Analysis and Experimental Study on Automatic Trajectory Tracking Control of a Shield Tunneling Machine under Pressure Regulation Working Mode

2011 ◽  
Vol 317-319 ◽  
pp. 1444-1451
Author(s):  
Hai Bo Xie ◽  
Xiao Ming Duan ◽  
Hua Yong Yang ◽  
Zhi Bin Liu
Keyword(s):  
Control System ◽  
Working Conditions ◽  
Trajectory Tracking ◽  
Pid Control ◽  
Tracking Control ◽  
Shield Tunneling ◽  
Trajectory Tracking Control ◽  
Variable Gain ◽  
Thrust System ◽  
Tunneling Machine

Hydraulic thrust system is a critical part of shield tunneling machine. Automatic trajectory tracking control is a significant task of thrust system during tunnel excavation. In this article, plane mechanical structure diagram of the thrust system and path planning method are illustrated at first. An integrated control system is proposed to achieve the automatic control of the thrust trajectory. The control system consists of one trajectory planning controller for both cylinders and an individual cylinder controller for each of hydraulic cylinders. Trajectory planning controller is used to generate respective displacement signals of double-cylinder in every thrust stroke and each of cylinder controllers is used to realize the precise control of the given thrust trajectory. Variable-gain PID control strategy applied to achieve the precise tracking control of thrust trajectory under several typical working conditions are done at last. The experimental results demonstrate that variable-gain PID control have good performances with short response time and small overshoot regardless of changes of working conditions.

Experimental Verification of the Properties of Fibres for the Mechanisms Based on Parallel Kinematic Structures

2013 ◽  
Vol 486 ◽  
pp. 195-200
Author(s):  
Jaroslav Václavík ◽  
Pavel Polach
Keyword(s):  
Computational Model ◽  
Experimental Verification ◽  
Mechanical Systems ◽  
Inclined Plane ◽  
Fibre Properties ◽  
Plane Vibration ◽  
Experimental Stand ◽  
Axial Forces ◽  
Parallel Kinematic

The paper was written in the framework of research in mechanisms of the increased mobility on the basis of parallel kinematic structures, for which a fibre control instead of rigid elements is designed. The experiment is focused on the verification of the fibre properties in simplified mechanical systems such as motion on an inclined plane, vibration of a moving weight hanging on a fibre and fibre interaction with two types of pulley. The arrangement and instrumentation of the experimental stand and of the system for the measurement of position and axial forces in a fibre are described. The results should serve for tuning the computational model, the results of which are also presented in the framework of specific experiments.

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