A constraint-following control for uncertain mechanical systems: given force coupled with constraint force

In this paper, we design a coordinated steering and braking control scheme to ensure the tractor‐semitrailer vehicle system is practically stable. The tractor's steering input is designed to realize lane tracking and the semitrailer's differential braking torque is designed to improve the stability of the semitrailer. This control methodology is developed in two steps. Firstly, the expected steering input and the expected differential braking force are derived by introducing a set of given tracking constraints and considering the possible initial condition derivation from the constraints based on the Udwadia‐Kalaba approach. Secondly, we develop an adaptive robust control law to tackle the parameter uncertainty, which may be (possibly) time‐varying, and design the required braking torques, which are the actual inputs, to generate the desired braking forces. Furthermore, this control methodology can deal with nonlinear mechanical systems with both holonomic constraints and nonholonomic constraints. Numerical simulations demonstrate that the control algorithm could guarantee the vehicle dynamics are practically stable and achieve lane following maneuvering.

show abstract

“…Let us begin with the following mechanical system [37,38]:

\begin{matrix} right & left M (q (t), t) \ddot{q} (t) + C (q (t), \dot{q} (t), t) \dot{q} (t) + g (q (t), t) \\ right = & left τ (t) . \end{matrix}

…”

Section: Mechanical System Subject To Constraintsmentioning

confidence: 99%

Controlling tractor‐semitrailer vehicles in automated highway systems: Adaptive robust and Lyapunov minimax approach

Sun

Yang

Chen

et al. 2020

Asian Journal of Control

View full text Add to dashboard Cite

show abstract

“…It is one of the frontier concepts initially proposed by Udwadia in [32][33][34][35][36][37][38][39]. Then, the constraint-following control is considered as an appealing and specialized control method for the nonlinear mechanical systems, which are discussed in a few recent research works [35][36][37][38][39][40][41][42][43][44][45]. It can investigate the intrinsic nature of the mechanical system dynamics and use the servo constraints force model to design the control.…”

Section: Introductionmentioning

confidence: 99%

Contact constraints-based dynamic manipulation control of the multi-fingered hand robot: a force sensorless approach

Zhao

Yang

et al. 2021

Nonlinear Dyn

Self Cite

View full text Add to dashboard Cite

A novel analytical modeling and dynamic manipulation control method of the multi-fingered hand robot has been proposed in the paper. Based on the contact constraints, the explicit dynamics modeling of the hand robot manipulating an object is hierarchically established by Udwadia-Kalaba equation with no auxiliary variable (e.g., Lagrange multipliers or quasi-generalized variables). Through the second order of the contact constraints, the grasping forces of the hand robot in the manipulation work space are derived explicitly and decoupled with the control torques of the finger joints. Consider the hand robot and the object as an entire system in the control design. Motivated by Udwadia's work, the manipulation task of the grasped object is novelly used to formulate a set of servo constraints. In virtue of following the servo constraints, the hand robot can manipulate the object to accomplish the desired task. With the formulated contact forces model, a model-based dynamic control method is proposed for the hand robot to handle the object, which does not depend on the force feedback from the fingertips sensors (force sensorless). The system performance under

show abstract

“…Zhao et al solved the trajectory tracking control problem of an artificial swarm system consisting of multiple agents [24,25]. Zhao et al realized the trajectory tracking control of uncertain systems with given forces and constraint forces [26]. The existing applications have proved the validity of UKFE.…”

Section: Introductionmentioning

confidence: 99%

Constraint-Following Servo Control for the Trajectory Tracking of Manipulator with Flexible Joints and Mismatched Uncertainty

Dong

Zhao

et al. 2021

Machines

View full text Add to dashboard Cite

Trajectory tracking is a common application method for manipulators. However, the tracking performance is hard to improve if the manipulators contain flexible joints and mismatched uncertainty, especially when the trajectory is nonholonomic. On the basis of the Udwadia–Kalaba Fundamental Equation (UKFE), the prescribed position or velocity trajectories are creatively transformed into second-order standard differential form. The constraint force generated by the trajectories is obtained in closed form with the help of UKFE. Then, a high-order fractional type robust control with an embedded fictitious signal is proposed to achieve practical stability of the system, even if the mismatched uncertainty exists. Only the bound of uncertainty is indispensable, rather than the exact information. A leakage type of adaptive law is proposed to estimate such bound. By introducing a dead-zone, the control will be simplified when the specific parameter enters a certain area. Validity of the proposed controller is verified by numerical simulation with two-link flexible joint manipulator.

show abstract

A constraint-following control for uncertain mechanical systems: given force coupled with constraint force

Cited by 17 publications

References 17 publications

Controlling tractor‐semitrailer vehicles in automated highway systems: Adaptive robust and Lyapunov minimax approach

Controlling tractor‐semitrailer vehicles in automated highway systems: Adaptive robust and Lyapunov minimax approach

Contact constraints-based dynamic manipulation control of the multi-fingered hand robot: a force sensorless approach

Constraint-Following Servo Control for the Trajectory Tracking of Manipulator with Flexible Joints and Mismatched Uncertainty

Contact Info

Product

Resources

About