scholarly journals Adaptive Repetitive Control of A Linear Oscillating Motor under Periodic Hydraulic Step Load

Sensors ◽  
2020 ◽  
Vol 20 (4) ◽  
pp. 1140 ◽  
Author(s):  
Xinglu Li ◽  
Zongxia Jiao ◽  
Yang Li ◽  
Yuan Cao
Keyword(s):  
Periodic Oscillation ◽  
Adaptive Controller ◽  
Tracking Accuracy ◽  
Nonlinear Properties ◽  
Modeling Uncertainties ◽  
Hydraulic Load ◽  
Fourier Series Approximation ◽  
Waveform Distortions ◽  
Actuation Systems ◽  
Electrohydraulic Actuators

A linear oscillating motor has a direct and efficient linear motion output and is widely used in linear actuation systems. The motor is often applied to compact hybrid electrohydraulic actuators to drive a linear pump. However, the periodic switch of the rectification valve in the pump brings the hydraulic step load to the linear motor, which causes periodic oscillation waveform distortions. The distortion results in the reduction of pumping capacity. The conventional feedback proportional-integral-derivative control is applied to the pump, however, this solution cannot handle the step load as well as resolving nonlinear properties and uncertainties. In this paper, we introduce a nonlinear model to identify periodic hydraulic load. Then, the loads are broken up into a set of simple terms by Fourier series approximation. The uncertain terms and other modeling uncertainties are estimated and compensated by the practical adaptive controller. A robust control term is also developed to handle uncertain nonlinearities. The controller overcame drawbacks of conventional repetitive controllers, such as heavy memory requirements and noise sensitivity. The controller can achieve a prescribed final tracking accuracy under periodic hydraulic load via Lyapunov analysis. Finally, experimental results on the linear oscillating motor-pump are provided for validation of the effectiveness of the scheme.

Adaptive Tracking Control of an Air Powered Robot Actuator

1993 ◽  
Vol 115 (3) ◽  
pp. 427-433 ◽  
Author(s):  
B. W. McDonell ◽  
J. E. Bobrow
Keyword(s):  
Tracking Control ◽  
Position Control ◽  
Adaptive Controller ◽  
Pneumatic Actuator ◽  
Tracking Accuracy ◽  
Nonlinear Characteristics ◽  
Adaptive Tracking Control ◽  
Full State ◽  
Full State Feedback ◽  
High Bandwidth

An adaptive controller is presented for a one-degree-of-freedom pneumatic actuator. The control law uses full-state feedback for simultaneous parameter identification and tracking control. For position control, a pneumatic actuator with high bandwidth is difficult to obtain because of the compressibility of air and the nonlinear characteristics of air flowing through a variable area orifice. Most previous controllers for gas powered actuators were relatively limited fixed gain or on-off type controllers with low tracking accuracy. Experimental results demonstrate that tracking performance comparable to electric servomotors can be obtained using the algorithm presented despite the nonlinearities and compressibility of air.

Dexterity and Adaptive Control of Planar Parallel Manipulators With and Without Redundant Actuation

2014 ◽  
Vol 10 (1) ◽  
Author(s):  
Weiwei Shang ◽  
Shuang Cong
Keyword(s):  
Adaptive Control ◽  
Parallel Manipulator ◽  
Adaptive Controller ◽  
Parallel Manipulators ◽  
The Other ◽  
Experimental Comparison ◽  
Redundant Actuation ◽  
Tracking Accuracy ◽  
Planar Parallel Manipulator ◽  
Planar Parallel Manipulators

The objective of this paper is to determine whether a planar parallel manipulator with redundant actuation has better tracking accuracy than a planar parallel manipulator without redundant actuation. The effects of the redundant actuation on tracking accuracy of parallel manipulators are studied by using two different experimental platforms. The first platform is the planar five-bar parallel manipulator with normal actuation, and the other one is the planar parallel manipulator with redundant actuation. The dexterity pictures and the kinematic configurations of the two platforms validate the kinematic advantages from the redundant actuation. In order to study the dynamic advantages of the redundant actuation further, a nonlinear adaptive controller is presented for the two platforms. The experimental comparison is implemented on two actual parallel manipulator platforms, and from the experimental results, one can find the tracking accuracy of the parallel manipulator with redundant actuation can be improved above 38% than that of the five-bar parallel manipulator without redundant actuation.

Lyapunov-Based Adaptive Control for the Permanent Magnet Synchronous Motor Driving a Robotic Load

2017 ◽  
Vol 26 (11) ◽  
pp. 1750168 ◽  
Author(s):  
Javier Moreno-Valenzuela ◽  
Yajaira Quevedo-Pillado ◽  
Regino Pérez-Aboytes ◽  
Luis González-Hernández
Keyword(s):  
Adaptive Control ◽  
Permanent Magnet ◽  
Permanent Magnet Synchronous Motor ◽  
Adaptive Controller ◽  
Synchronous Motor ◽  
Lyapunov Theory ◽  
System Stability ◽  
Field Oriented Control ◽  
Tracking Accuracy ◽  
Trajectory Tracking Control

This paper is inspired on the structure of the field-oriented control by presenting an analytical and practical study of an adaptive nested controller for trajectory tracking control of a permanent magnet synchronous motor (PMSM) driving a single-link arm. The originality of the new approach relies in the use of adaptive control to compensate the electrical and mechanical dynamics and in the presentation of a rigorous closed-loop system stability analysis based on Lyapunov theory. It is worthwhile to notice that the new controller resembles the pure field-oriented control except for the adaptive terms. The new scheme is compared with other methodologies as with the classical nonadaptive field-oriented control algorithm and with an adaptive controller proposed in the literature. A better tracking accuracy is obtained with the proposed adaptive scheme.

scholarly journals Compound Velocity Synchronizing Control Strategy for Electro-Hydraulic Load Simulator and Its Engineering Application

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Songshan Han ◽  
Zongxia Jiao ◽  
Jianyong Yao ◽  
Yaoxing Shang
Keyword(s):  
Engineering Application ◽  
Operating Conditions ◽  
Accurate Information ◽  
Tracking Accuracy ◽  
External Disturbances ◽  
Acceleration Signal ◽  
Motion System ◽  
New Strategy ◽  
Hydraulic Load ◽  
Load Simulator

An electro-hydraulic load simulator (EHLS) is a typical case of torque systems with strong external disturbances from hydraulic motion systems. A new velocity synchronizing compensation strategy is proposed in this paper to eliminate motion disturbances, based on theoretical and experimental analysis of a structure invariance method and traditional velocity synchronizing compensation controller (TVSM). This strategy only uses the servo-valve's control signal of motion system and torque feedback of torque system, which could avoid the requirement on the velocity and acceleration signal in the structure invariance method, and effectively achieve a more accurate velocity synchronizing compensation in large loading conditions than a TVSM. In order to facilitate the implementation of this strategy in engineering cases, the selection rules for compensation parameters are proposed. It does not rely on any accurate information of structure parameters. This paper presents the comparison data of an EHLS with various typical operating conditions using three controllers, i.e., closed loop proportional integral derivative (PID) controller, TVSM, and the proposed improved velocity synchronizing controller. Experiments are conducted to confirm that the new strategy performs well against motion disturbances. It is more effective to improve the tracking accuracy and is a more appropriate choice for engineering applications.

Discontinuous Projection-Based Adaptive Robust Control for Displacement-Controlled Actuators

2015 ◽  
Vol 137 (8) ◽  
Author(s):  
Enrique Busquets ◽  
Monika Ivantysynova
Keyword(s):  
Adaptive Controller ◽  
Adaptive Robust Control ◽  
Parametric Uncertainties ◽  
Tracking Accuracy ◽  
Hydraulic Motor ◽  
Fuel Savings ◽  
Performance Improvements ◽  
Wide Range ◽  
Asymptotic Tracking ◽  
Significant Performance

Displacement-controlled (DC) actuation is a revolutionary fluid power technology which has been utilized on a broad range of applications demonstrating substantial fuel savings and significant performance improvements over traditional valve-controlled (VC) systems. In this paper, a nonlinear discontinuous projection-based adaptive controller is synthesized to achieve precision motion control of DC actuators. The controller is formulated to compensate for uncertain parameters through online parameter adaptation. Additionally, its structure allows for the inclusion of unmodeled nonlinearities such as friction and external loads and disturbances. Transient performance and tracking accuracy are also guaranteed in the presence of both parametric uncertainties and uncertain nonlinearities, and asymptotic tracking is achieved in the presence of parametric uncertainties. To evaluate the synthesized controller, a test bench comprising a large hydraulically powered end-effector was utilized. The actuator, a vane-type hydraulic motor is mechanically connected to a large robotic arm with a wide range of motion. Measurement results demonstrate that the synthesized controller achieves the aforementioned advantages while attaining a high degree of motion accuracy.

scholarly journals Tracking Unmanned Aerial Vehicles Based on the Kalman Filter Considering Uncertainty and Error Aware

Electronics ◽  
2021 ◽  
Vol 10 (24) ◽  
pp. 3067
Author(s):  
Mohammed Abdulhakim Al-Absi ◽  
Rui Fu ◽  
Ki-Hwan Kim ◽  
Young-Sil Lee ◽  
Ahmed Abdulhakim Al-Absi ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Unmanned Aerial Vehicles ◽  
High Speed ◽  
Location Based Services ◽  
Tracking Accuracy ◽  
Daily Lives ◽  
Noisy Information ◽  
Aerial Vehicles ◽  
Modeling Uncertainties ◽  
Tracking Model

Recently, Unmanned Aerial Vehicles (UAVs) have made significant impacts on our daily lives with the advancement of technologies and their applications. Tracking UAVs have become more important because they not only provide location-based services, but are also faced with serious security threats and vulnerabilities. UAVs are smaller in nature, move with high speed, and operate in a low-altitude environment, which makes it conceivable to track UAVs using fixed or mobile radars. Kalman Filter (KF)-based methodologies are widely used for extracting valuable trajectory information from samples composed of noisy information. As UAVs’ trajectories resemble uncertain behavior, the traditional KF-based methodologies have poor tracking accuracy. Recently, the Diffusion-Map-based KF (DMK) was introduced for modeling uncertainties in the environment without prior knowledge. However, the model has poor accuracy when operating in environments with higher noise. In order to achieve better tracking performance, this paper presents the Uncertainty and Error-Aware KF (UEAKF) for tracking UAVs. The UEAKF-based tracking method provides a good tradeoff among preceding estimate confidence and forthcoming measurement under dynamic environments; the resulting filter is robust and nonlinear in nature. The experimental results showed that the UEAKF-based UAV tracking model achieves much better Root Mean Square Error (RMSE) performance compared to the existing particle filter-based and DMK-based UAV tracking models.

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