scholarly journals Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 103
Author(s):  
Naghmeh Garmsiri ◽  
Yuming Sun ◽  
Pooya Sekhavat ◽  
Cai Xia Yang ◽  
Nariman Sepehri
Keyword(s):  
Control System ◽  
Stability Analysis ◽  
External Force ◽  
Experimental Evaluation ◽  
Position Control ◽  
Control Loop ◽  
Admittance Control ◽  
Parametric Stability ◽  
System Parameters ◽  
Human Arm

Implementation, experimental evaluation and stability analysis of an admittance-controlled teleoperated pneumatic system is presented. A master manipulator navigates a pneumatic slave actuation, which interacts with a human arm as an environment. Considering the external force in the position control loop in the admittance control, enables the slave to handle the external force independent of the master. The proposed control system is evaluated experimentally using the admittance models with different settings. Stability of the control system is analyzed using the concept of Lyapunov exponents. Parametric stability analysis is conducted to show the effect of changing system parameters on stability.

scholarly journals System Performance of an Inertially Stabilized Gimbal Platform with Friction, Resonance, and Vibration Effects

2017 ◽  
Vol 2017 ◽  
pp. 1-20 ◽  
Author(s):  
Ruting Jia ◽  
Vidya K. Nandikolla ◽  
Gary Haggart ◽  
Charles Volk ◽  
Daniel Tazartes
Keyword(s):  
Control System ◽  
System Performance ◽  
Position Control ◽  
Inertial Sensors ◽  
Research Work ◽  
Camera System ◽  
System Parameters ◽  
Ideal System ◽  
System Input ◽  
Angular Measurements

The research work evaluates the quality of the sensor to perform measurements and documents its effects on the performance of the system. It also evaluates if this performance changes due to the environments and other system parameters. These environments and parameters include vibration, system friction, structural resonance, and dynamic system input. The analysis is done by modeling a gimbal camera system that requires angular measurements from inertial sensors and gyros for stabilization. Overall, modeling includes models for four different types of gyros, the gimbal camera system, the drive motor, the motor rate control system, and the angle position control system. Models for friction, structural resonance, and vibration are analyzed, respectively. The system is simulated, for an ideal system, and then includes the more realistic environmental and system parameters. These simulations are run with each of the four types of gyros. The performance analysis depicts that for the ideal system; increasing gyro quality provides better system performance. However, when environmental and system parameters are introduced, this is no longer the case. There are even cases when lower quality sensors provide better performance than higher quality sensors.

Discrete Sliding Mode Controller Design Based on the Suboptimal LQR Approach

2003 ◽  
Author(s):  
Wen-Chun Yu ◽  
Gou-Jen Wang
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Performance Index ◽  
Control Algorithm ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Loop ◽  
External Loads

A systematic and simple discrete sliding mode controller design scheme based on the suboptimal approach is presented. The behaviors of the control system can be determined through a preferred performance index. The AC servomotor position control is obtained using only the q-axis voltage control loop. The proposed method is simulated and experimented to verify the capability of this new sliding mode control algorithm. Properties such as easy implementation, fast resonse, and robust to external loads are demonstrated.

Stability Analysis of Sensorless Speed Control for PMSM Considered Current Control System

2018 ◽  
Vol 138 (11) ◽  
pp. 848-856
Author(s):  
Sari Maekawa ◽  
Mariko Sugimoto ◽  
Keiichi Ishida ◽  
Masaya Nogi ◽  
Masaki Kanamori
Keyword(s):  
Control System ◽  
Stability Analysis ◽  
Speed Control ◽  
Current Control
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