A learning control algorithm for periodic robot synchronization: Experimental results

Gnucci, Manuel; Gospodarczyk, M.; Carnevale, D.; Tiberti, M.; Tomei, P.; Verrelli, Cristiano Maria

doi:10.1002/acs.2868

Cited by 6 publications

(5 citation statements)

References 20 publications

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“…Sufficiency: It is assumed that there is a Q(s) ∈ H ∞ depicted as (7) such that the closed-loop system in Figure 1 is ensured to be stabilized by (6b). Combining equations ( 1), ( 7), (8), and ( 9) yields ( 5) and (12).…”

Section: The Design Of the Pid-based Repetitive Controller A The Para...mentioning

confidence: 99%

“…For this system, the periodic signals need to be tracked, and simultaneously, the disturbances need to be rejected. For instance, periodic displacement tracking of industrial manipulators under different working conditions requires rejecting unknown load disturbances [8]. When forming a complex curved surface with a fast tool servo system, it is necessary to attenuate the disturbance caused by the end effect of the linear motor [9].…”

Section: Introductionmentioning

confidence: 99%

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A Design Method of Optimal PID-Based Repetitive Control Systems

et al. 2020

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This paper is concerned with the design of a PID-based repetitive control strategy for a strictly proper plant with requirements of high-precision tracking performance for periodic signals and good rejecting performance for an external disturbance with a finite frequency range. The PID-based controller consists of a PID controller and a repetitive controller connected in series, and its control parameters are optimized to meet the performance requirements. First, utilizing Youla-Kucera Parameterization, the necessary and sufficient conditions for the existence of the PID-based repetitive controller are derived. Second, from the requirements of the control performance and the analysis of the sensitivity function, the description of the PID-based repetitive controller is deduced. Third, the design of PID control parameters depends on the stability of closed-loop system and the attenuation performance. By introducing an arbitrarily small relaxation variable and applying the H ∞ control method, the design problem is transformed into a generalized eigenvalue minimization problem (GVEP) under linear matrix inequality (LMI) constraints. In addition, the largest cutoff frequency in the repetitive controller is also achieved by solving a GVEP. Finally, simulations are applied to examine the validity and efficacy of the proposed method.INDEX TERMS PID-based repetitive controller, Youra-Kucera parameterization, generalized eigenvalue minimization problems (GEVP), low-pass filter.

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Section: The Design Of the Pid-based Repetitive Controller A The Para...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Design Method of Optimal PID-Based Repetitive Control Systems

et al. 2020

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“…Then one of the hydraulic cylinders is mathematically modeled [17][18][19]. The transfer function of the hydraulic cylinder can be composed of the flow equation of the proportional valve, the flow continuity equation of the hydraulic cylinder control chamber, and the hydraulic balance equation of the hydraulic cylinder and the load [20].…”

Section: Mathematical Modeling Of Double Cylinder Forging Hydraulic Pmentioning

confidence: 99%

Synchronization Control Algorithm of Double-Cylinder Forging Hydraulic Press Based on Fuzzy Neural Network

Xu¹,

Bai²,

Shao

2019

Algorithms

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In order to solve the poor control accuracy problem of the traditional synchronous control algorithm for a double-cylinder forging hydraulic press, a synchronous control algorithm for double-cylinder forging hydraulic press based on a fuzzy neural network was proposed. According to the flow equation of valve and hydraulic cylinder, the balance equation and force balance equation of forging hydraulic cylinder are established by using the theory of electro-hydraulic servo systems, and the cylinder-controlled transfer function of forging hydraulic cylinder is deduced. By properly simplifying the transfer function, the mathematical model of synchronous control of double cylinder forging hydraulic press is established. According to the implementation process of traditional fuzzy neural networks, the properties of compensation operation are introduced. The traditional fuzzy neural network is optimized, and the optimized neural network is used to realize the synchronous control of the double cylinder forging hydraulic press. The experimental results show that the amplitude curve of the algorithm is very close to the expected amplitude curve, the error amplitude is only 0.3 mm, and the average control time is about 140 s, which fully shows that the algorithm has high accuracy and a good control effect.

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“…The mechanism of the modification is that the filter makes the high‐frequency poles move towards the left half plane from the imaginary axis as RC originally has infinite poles at imaginary axis. RC has demonstrated efficacy in numerous rotational systems, including hard disk drives, 4,5 robot manipulators, 6 DC servo motors, 7 permanent magnet synchronous motors, 8 robots with rotational joints, 9 gantry robots, 10 and others.…”

Section: Introductionmentioning

confidence: 99%

Improved sliding mode observer based repetitive control for linear systems with time‐varying input and state delays

Chuei,

Zheng,

Cao

et al. 2023

Adaptive Control & Signal

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SummaryControl systems are frequently subject to the negative effects of time delays and disturbances, which diminish the systems' tracking performance. In response to these challenges, this paper presents a novel approach, that is, the improved sliding mode observer based repetitive control (ISMO‐RC), to enhance the system's periodic signal tracking in the presence of the input and state time delays and the input disturbances. The design takes the advantages of RC and ISMO, in which RC effectively compensates periodic signals, while ISMO compensates both aperiodic disturbances and the time‐varying input and state delays. The stability of the whole system is guaranteed via the linear matrix inequality (LMI) and the Lyapunov–Krasovskii functional analysis. The proposed controller is evaluated through extensive simulations and experiments, which demonstrate its superiority over comparative control methods.

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A learning control algorithm for periodic robot synchronization: Experimental results

Cited by 6 publications

References 20 publications

A Design Method of Optimal PID-Based Repetitive Control Systems

A Design Method of Optimal PID-Based Repetitive Control Systems

Synchronization Control Algorithm of Double-Cylinder Forging Hydraulic Press Based on Fuzzy Neural Network

Improved sliding mode observer based repetitive control for linear systems with time‐varying input and state delays

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