scholarly journals Distributed Mode-Dependent Event-Triggered Passive Filtering for Flexible Manipulator with Semi-Markov Parameters

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2058
Author(s):  
Yidao Ji ◽  
Suiwu Zheng
Keyword(s):  
Sensor Networks ◽  
Sufficient Conditions ◽  
Robotic Manipulator ◽  
Flexible Manipulator ◽  
System Perspective ◽  
Event Triggering ◽  
Single Link ◽  
Flexible Robotic Manipulator ◽  
Distributed Filter ◽  
Filtering Problem

In this paper, the passive filtering problem of flexible robotic manipulator is investigated over sensor networks in a distributed manner from the control system perspective. The sensor networks are adopted to estimate true states of flexible robotic manipulator. In particular, the semi-Markov model is utilized for flexible manipulators with varying loads in unstructured environment, which is more flexible for practical implementations. Moreover, the new mode-dependent event-triggering mechanism is developed for distributed filter communications. Based on model transformation, sufficient conditions are first established to guarantee prescribed passive performance under disturbances. Then, desired mode-dependent filters are developed with the aid of convex optimization. In the end, several simulations results of a single-link flexible robotic manipulator are provided to verify the usefulness of the developed filtering algorithm.

scholarly journals Vibration Control Based on Reinforcement Learning for a Single-link Flexible Robotic Manipulator

2017 ◽  
Vol 50 (1) ◽  
pp. 3476-3481 ◽  
Author(s):  
Yuncheng Ouyang ◽  
Wei He ◽  
Xiajing Li ◽  
Jin-Kun Liu ◽  
Guang Li
Keyword(s):  
Reinforcement Learning ◽  
Vibration Control ◽  
Robotic Manipulator ◽  
Single Link ◽  
Flexible Robotic Manipulator

Optimized Design of Single Link Flexible Manipulator

2011 ◽  
Author(s):  
S. Mahto ◽  
U. S. Dixit
Keyword(s):  
Flexible Manipulator ◽  
Optimized Design ◽  
Fundamental Frequencies ◽  
Numerical Experimentation ◽  
Single Link ◽  
Sequential Quadratic Programming Method ◽  
Flexible Robotic Manipulator ◽  
Quadratic Programming Method ◽  
Work Size ◽  
Euler Bernoulli Beam

In this work, size optimization of a single link flexible robotic manipulator is carried out by considering the link as an Euler-Bernoulli beam. Finite element method is used for obtaining the natural frequencies and time response. Sequential quadratic programming method is used to maximize fundamental frequencies of the manipulator for different designs. A comparative study of the optimized designs is carried out to find out their suitability for real world situation. Based on the numerical experimentation, suggestion for formulating optimization problem for varying tip loads is provided.

Comparative Dynamic Response of a Optimized Single Link Flexible Manipulator

2011 ◽  
Vol 110-116 ◽  
pp. 4748-4756 ◽  
Author(s):  
S. Mahto ◽  
U.S. Dixit
Keyword(s):  
Finite Element Method ◽  
Dynamic Response ◽  
Cross Section ◽  
Sequential Quadratic Programming ◽  
Flexible Manipulator ◽  
Bernoulli Beam ◽  
Circular Area ◽  
Single Link ◽  
Flexible Robotic Manipulator ◽  
Euler Bernoulli Beam

—In this work, comparative study for dynamic response is carried out for optimized single link flexible robotic manipulator under various types of excitations. Manipulator is considered as an Euler-Bernoulli beam and shape is optimized for circular area of cross-section. Finite element method is used to obtain fundamental frequency and sequential quadratic programming (SQP) is used for its maximization.

scholarly journals Impact Vibration Attenuation for a Flexible Robotic Manipulator through Transfer and Dissipation of Energy

2013 ◽  
Vol 20 (4) ◽  
pp. 665-680 ◽  
Author(s):  
Yushu Bian ◽  
Zhihui Gao
Keyword(s):  
Large Amplitude ◽  
Internal Resonance ◽  
Rigid Motion ◽  
Robotic Manipulator ◽  
Flexible Manipulator ◽  
Vibration Absorber ◽  
Dissipation Of Energy ◽  
Flexible Robotic Manipulator ◽  
The Impact ◽  
Impact Vibration

Due to the presence of system flexibility, impact can excite severe large amplitude vibration responses of the flexible robotic manipulator. This impact vibration exhibits characteristics of remarkable nonlinearity and strong energy. The main goal of this study is to put forward an energy-based control method to absorb and attenuate large amplitude impact vibration of the flexible robotic manipulator. The method takes advantage of internal resonance and is implemented through a vibration absorber based on the transfer and dissipation of energy. The addition of the vibration absorber to the flexible arm generates a coupling effect between vibration modes of the system. By means of analysis on 2:1 internal resonance, the exchange of energy is proven to be existent. The impact vibrational energy can be transferred from the arm to the absorber and dissipated through the damping of the absorber. The results of numerical simulations are promising and preliminarily verify that the method is feasible and can be used to combat large amplitude impact vibration of the flexible manipulator undergoing rigid motion.

scholarly journals Event-Based Control for Average Consensus of Wireless Sensor Networks with Stochastic Communication Noises

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Chuan Ji ◽  
Wuneng Zhou ◽  
Huashan Liu
Keyword(s):  
Wireless Sensor Networks ◽  
Sensor Networks ◽  
Sensor Node ◽  
Sufficient Conditions ◽  
Wireless Sensor ◽  
Average Consensus ◽  
Event Triggering ◽  
Event Trigger ◽  
Network Topologies ◽  
Event Based

This paper focuses on the average consensus problem for the wireless sensor networks (WSNs) with fixed and Markovian switching, undirected and connected network topologies in the noise environment. Event-based protocol is applied to each sensor node to reach the consensus. An event triggering strategy is designed based on a Lyapunov function. Under the event trigger condition, some sufficient conditions for average consensus in mean square are obtained. Finally, some numerical simulations are given to illustrate the effectiveness of the results derived in this paper.

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