scholarly journals A Neural Network Based Dynamic Control Method for Soft Pneumatic Actuator with Symmetrical Chambers

Actuators ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 112
Author(s):  
Yiqing Li ◽  
Yan Cao ◽  
Feng Jia
Keyword(s):  
Neural Network ◽  
Dynamic Model ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Dynamic Control ◽  
The State ◽  
Pneumatic Actuator ◽  
Trajectory Tracking Control ◽  
Modeling And Control

Dynamic modeling and control of the soft pneumatic actuators are challenging research. In this paper, a neural network based dynamic control method used for a soft pneumatic actuator with symmetrical chambers is proposed. The neural network is introduced to create the dynamic model for predicting the state of the actuator. In this dynamic model, the effect of the uninflated rubber block on bending deformation is considered. Both pressures of the actuator are used for predicting the state of the actuator during the bending motion. The controller is designed based on this dynamic model for trajectory tracking control. Three types of trajectory tracking control experiments are performed to validate the proposed method. The results show that the proposed control method can control the motion of the actuator and track the trajectory effectively.

Neural Network Trajectory Tracking Control of Compliant Parallel Robot

2015 ◽  
Vol 799-800 ◽  
pp. 1069-1073
Author(s):  
Hao Tian ◽  
Yue Qing Yu
Keyword(s):  
Neural Network ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Rbf Neural Network ◽  
Control Strategies ◽  
Parallel Robot ◽  
Network Control ◽  
Trajectory Tracking Control ◽  
Compliant Joint

Trajectory tracking control of compliant parallel robot is presented. According to the characteristics of compliant joint, the system model is derived and the dynamic equation is obtained based on the Lagrange method. Radial Basis Function (RBF) neural network control is designed to globally approximate the model uncertainties. Further, an itemized approximate RBF control method is proposed for higher identify precision. The trajectory tracking abilities of two control strategies are compared through simulation.

The Spherical Rolling-Flying Vehicle: Dynamic Modeling and Control System Design

2021 ◽  
pp. 1-23
Author(s):  
Stefan Atay ◽  
Matthew Bryant ◽  
Gregory D. Buckner
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
High Mobility ◽  
Theoretical Development ◽  
Trajectory Tracking Control ◽  
Modeling And Control ◽  
And Control

Abstract This paper presents the dynamic modeling and control of a bi-modal, multirotor vehicle that is capable of omnidirectional terrestrial rolling and multirotor flight. It focuses on the theoretical development of a terrestrial dynamic model and control systems, with experimental validation. The vehicle under consideration may roll along the ground to conserve power and extend endurance but may also fly to provide high mobility and maneuverability when necessary. The vehicle employs a three-axis gimbal system that decouples the rotor orientation from the vehicle's terrestrial rolling motion. A dynamic model of the vehicle's terrestrial motion is derived from first principles. The dynamic model becomes the basis for a nonlinear trajectory tracking control system suited to the architecture of the vehicle. The vehicle is over-actuated while rolling, and the additional degrees of actuation can be used to accomplish auxiliary objectives, such as power optimization and gimbal lock avoidance. Experiments with a hardware vehicle demonstrate the efficacy of the trajectory tracking control system.

scholarly journals ADP based trajectory-tracking control via backstepping method for underactuated AUV with unknown dynamics

2021 ◽  
Author(s):  
Gaofeng Che ◽  
Zhen Yu
Keyword(s):  
Neural Network ◽  
Control Problem ◽  
Dynamic Model ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Autonomous Underwater Vehicles ◽  
System Stability ◽  
Trajectory Tracking Control ◽  
Control Scheme ◽  
Underactuated Auv

Abstract This paper investigates trajectory-tacking control problem for underactuated autonomous underwater vehicles (AUV) with unknown dynamics. Different from existing adaptive dynamic programming (ADP) schemes, our proposed control scheme can achieve high-level system stability and tracking control accuracy. Firstly, the backstepping approach is introduced into the kinematic model of underactuated AUV and produces a virtual velocity control which is taken as the desired velocity input of the dynamic model of underactuated AUV. Secondly, the error tracking system is constructed according to the dynamic model of underactuated AUV. Thirdly, the critic neural network and the action neural network are employed to transform the trajectory-tracking control problem into optimal control problem based on policy iteration algorithm. At last simulation results are given to verify the effectiveness of the control scheme proposed in this paper.

Modeling and Control of a Horizontal Two-Link Rigid/Flexible Robot

2005 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Dynamic Model ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Trajectory Control ◽  
Distributed Parameter ◽  
Mathematical Tool ◽  
Flexible Robot ◽  
Trajectory Tracking Control ◽  
Modeling And Control ◽  
Control Scheme

This paper proposes a trajectory control scheme for a horizontal two-link rigid/flexible robot having a payload at the free end. First, a new distributed-parameter dynamic model, consisting of two ordinary differential equations and one partial differential equation, is derived using the extended Hamilton’s principle, and then a trajectory-tracking control scheme is designed based on the distributed-parameter dynamic model, where the Lyapunov stability theorem is used as a mathematical tool. The proposed control is a collocated control, free from the so-called spillover instability. The proposed control consists of a PD control for the rigid dynamics, a proportional control for the flexible dynamics, and feed forward and dynamics compensation. With only two joint actuators, the proposed trajectory control guarantees stability throughout the entire trajectory-tracking control and asymptotic stability at desired goal positions. The theoretical results have been evaluated with control experiments.

Motion modeling of a non-holonomic wheeled mobile robot based on trajectory tracking control

2020 ◽  
Vol 44 (2) ◽  
pp. 228-233
Author(s):  
Xuefeng Han ◽  
Mingda Ge ◽  
Jicheng Cui ◽  
Hao Wang ◽  
Wei Zhuang
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Kinematic Model ◽  
Wheeled Mobile Robot ◽  
Proportional Integral Derivative ◽  
Trajectory Tracking Control ◽  
Proportional Integral

Trajectory tracking is a problem of emphasis for the mobile robot. In this study, a coordinate transformation method was used to build a kinematic model of the wheeled mobile robot. A traditional proportional-integral-derivative control method was researched and improved by combining it with a neural network. A neural network proportional-integral-derivative trajectory tracking control method was thus designed, and a simulation experiment was performed using Simulink. The results show that in circular trajectory tracking control, the maximum errors of the X axis, Y axis, and θ were approximately 2.1 m, 2.3 m, and 0.4 rad, respectively, and that the system remained stable after running for 10 s. In straight-line trajectory tracking control, the maximum errors of the X axis, Y axis, and θ were approximately −0.8 m, 1.3 m, and 0.3 rad, respectively, and the system remained stable after running for 8 s. The error was relatively small, and the effect of trajectory tracking control was good. The studied method had good performance in terms of wheeled mobile robot trajectory tracking control and is worthy of further promotion and application.

The Trajectory Tracking Control of 2-Link Flexible Arm Using Tendon Mechanism

1995 ◽  
Author(s):  
Hui Cao ◽  
Kazuo Yoshida
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Equations Of Motion ◽  
Real Time Control ◽  
Trajectory Tracking Control ◽  
Modeling And Control ◽  
Time Control ◽  
Flexible Arm ◽  
Resolved Acceleration Control

Abstract This paper deals with the trajectory tracking control of a 2-link flexible arm using tendon control mechanism. The purpose of this research is to establish modeling and control method for flexible arm. First, the equations of kinematic relationship and equations of motion are derived by using static deflection curve. From these equations, the relationship between tip trajectory and joint input torque is established. Second, a trajectory tracking controller is designed for real-time control of the flexible arm by using the resolved acceleration control method. Then the controller is carried out to track the designed straight line and circular trajectory. The simulation results show the effectiveness of the proposed method. To summarize these results, it was demonstrated that the tendon mechanism can be used to solve the tracking problem of the flexible arms and it also has a higher tracking precision than traditional method.

Robust motion control of live-line maintenance robot mechanical arm for high-voltage transmission line based on H∞ theory

2016 ◽  
Vol 40 (3) ◽  
pp. 951-967 ◽  
Author(s):  
Wei Jiang ◽  
Gongping Wu ◽  
Wei Wang ◽  
Jie Zhang ◽  
Fei Fan ◽  
...  
Keyword(s):  
Control System ◽  
Transmission Line ◽  
Dynamic Model ◽  
Motion Control ◽  
High Voltage ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Trajectory Tracking Control ◽  
Arm Motion

To overcome the low operation efficiency, high labour-intensiveness and high risk in the artificial live-line replacement of insulator strings, a robot for overhead transmission line maintenance was developed. In order to suppress effectively the influences of disturbance signals and uncertainties on tracking precision and stability of the robot mechanical arm motion under high voltage and strong electromagnetic interference, this paper proposed a H∞ control theory-based robust trajectory tracking control method for the robot mechanical arm. Through layering robot control architecture, a dynamic model of mechanical arm basic motion was established by the Lagrange method combined with an armature voltage equation of the joint motor, and the unified dynamic model of mechanical arm different motion was obtained. On this basis, the state-space model of mechanical arm motion error was deduced under disturbances and uncertainties, and thus an H∞ control model for mechanical arm motion was constructed. Subsequently, the H∞ controller for the mechanical arm trajectory tracking control system was solved by linear matrix inequality (LMI) based on the established model, and the asymptotic stability of the mechanical arm motion control system was verified by selecting the appropriate Lyapunov function. The proposed method for such a controller was proved to be of good versatility, strong adaptability and sound expansibility. Finally, simulation results verified the effectiveness of the H∞ controller and field operation tests further validated the engineering practicability of such a control method in macro and micro aspects.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

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