Equilibrium Manifold Linearization Model for Normal Shock Position Control Systems

2005 ◽  
Vol 42 (5) ◽  
pp. 1344-1347 ◽  
Author(s):  
Yu Daren ◽  
Cui Tao ◽  
Bao Wen
Keyword(s):  
Control Systems ◽  
Position Control ◽  
Normal Shock ◽  
Equilibrium Manifold ◽  
Shock Position

scholarly journals Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

2013 ◽  
Vol 2013 ◽  
pp. 1-16 ◽  
Author(s):  
Ji Min Lee ◽  
Sung Hwan Park ◽  
Jong Shik Kim
Keyword(s):  
Control Systems ◽  
Pid Controller ◽  
Position Control ◽  
Sliding Mode ◽  
System Modeling ◽  
Modeling Error ◽  
Load Disturbance ◽  
Control Scheme ◽  
Position Controller ◽  
System Uncertainties

A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities.

Payload pendulation and position control systems for an offshore container crane with adaptive‐gain sliding mode control

2019 ◽  
Vol 22 (5) ◽  
pp. 2119-2128 ◽  
Author(s):  
Quang Hieu Ngo ◽  
Ngo Phong Nguyen ◽  
Chi Ngon Nguyen ◽  
Thanh Hung Tran ◽  
Van Huu Bui
Keyword(s):  
Sliding Mode Control ◽  
Control Systems ◽  
Position Control ◽  
Sliding Mode ◽  
Container Crane ◽  
Mode Control

Paper 12: Design of an Experimental Arm Prosthesis: Engineering Aspects

1968 ◽  
Vol 183 (10) ◽  
pp. 68-73
Author(s):  
S. R. Montgomery
Keyword(s):  
Dynamic Response ◽  
Control Systems ◽  
Position Control ◽  
Velocity Control ◽  
Design Specification ◽  
Design And Construction

Externally powered arm prostheses have, to date, with few exceptions been made with simple velocity control of each movement. In order to make such devices controllable the dynamic response must be relatively poor. A prosthesis is being built experimentally for which the specification is based on the biological requirements discussed in McWilliam's paper (see Paper 13). The arms are pneumatically powered and provided with position-control systems. The paper describes the design and construction of such a pair of arms, including a discussion of the problems involved in meeting the design specification while making the device acceptable in terms of weight and appearance.

Robust Control of Three-Dimensional Compliant Mechanisms

2016 ◽  
Vol 138 (10) ◽  
Author(s):  
Erfan Shojaei Barjuei ◽  
Paolo Boscariol ◽  
Renato Vidoni ◽  
Alessandro Gasparetto
Keyword(s):  
Control Systems ◽  
Position Control ◽  
Compliant Mechanisms ◽  
Mass Density ◽  
Three Dimensional ◽  
Vibration Damping ◽  
Flexible Link ◽  
External Disturbances ◽  
Uncertainty Model ◽  
Open Issues

Position control and vibration damping of flexible-link mechanisms are still challenging open issues in robotics. Finding solutions for these problems can lead to improvement in the operation and accuracy of the manipulators. In this paper, the synthesis of robust controllers based on H∞ loop shaping and μ-synthesis for both position control and vibration damping in a spatial flexible L-shape mechanism with gravity is presented. The design of the controllers is based on the evaluation of an uncertainty model which takes into account a ±20% uncertainty in the elasticity and mass density of the links. The response of each controller is tested also in the presence of external disturbances with the aid of highly accurate numerical simulations; furthermore, a comparison between the robust performances of synthesized controllers is presented in order to show the effectiveness of synthesized control systems.

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