Nonlinear inverse dynamic control for mode-based flight

2000 ◽  
Author(s):  
Ronojoy Ghosh ◽  
Claire Tomlin
Keyword(s):  
Dynamic Control ◽  
Inverse Dynamic ◽  
Inverse Dynamic Control

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.

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.

scholarly journals Robust Fixed-Time Inverse Dynamic Control for Uncertain Robot Manipulator System

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Yang Wang ◽  
Mingshu Chen ◽  
Yu Song
Keyword(s):  
Robust Control ◽  
Inverse Dynamics ◽  
Control Method ◽  
Robot Manipulator ◽  
Dynamic Control ◽  
Fixed Time ◽  
Inverse Dynamic ◽  
Time Control ◽  
Control Scheme ◽  
Inverse Dynamic Control

This paper proposes a novel robust fixed-time control for the robot manipulator system with uncertainties. Based on the uniform robust exact differentiator (URED) algorithm, a robust control term is constructed. Then, a robust fixed-time inverse dynamics control (IDC) is proposed. For the proposed control method, the fixed-time stability of a closed-loop system with uncertainties is strictly proved. The newly proposed method exhibits the following two attractive features. First, the proposed control scheme extends the existing fixed-time IDC for the robot manipulator system to the robust control scheme. Second, the proposed method is strictly nonsingular rather than the commonly used approximate approach. Simulation result demonstrates the effectiveness of the proposed control scheme.

scholarly journals Inverse Dynamic Control of a 2-DOF Driving Simulator Platform

2018 ◽  
Vol 4 (13) ◽  
Author(s):  
Julio Javier Avalos García ◽  
Eduardo Izaguirre Castellanos ◽  
Luis Hernández Santana
Keyword(s):  
Driving Simulator ◽  
Dynamic Control ◽  
Inverse Dynamic ◽  
Inverse Dynamic Control

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.

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