A Nonlinear Input Shaping Technique for Motion Control of a Sensing Antenna

Feliu-Talegón, Daniel; Feliu-Batlle, Vicente; Castillo-Berrio, Claudia F.

doi:10.3182/20140824-6-za-1003.00567

Cited by 3 publications

(2 citation statements)

References 13 publications

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“…Por tanto, puede hacerse la hipótesis de que estos términos van a tener poca influencia sobre el movimiento y pueden despreciarse. Partiendo de las ecuaciones del modelo con una masa concentrada (10)…”

Section: Fundamentos Y Explicación Del Uso Del Is No Linealunclassified

Control de una antena sensora mediante la técnica de Input Shaping no lineal

Feliu-Talegón

Feliu-Batlle

Castillo-Berrio

2016

Revista Iberoamericana de Automática e Informática Industrial R

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En la actualidad se usan barras flexibles junto a sensores de fuerza y par para detectar obstáculos en robótica móvil. Además se utilizan estos dispositivos para la detección de superficies y el reconocimiento de objetos. Estos dispositivos, llamados antenas sensoras, representan una estrategia de detección activa en la cual un sistema con servomotores mueve la antena hasta que golpea con un objeto. En ese instante, la información obtenida de losángulos de los motores y la medida de los sensores de fuerza y par permiten saber la posición del punto de impacto con el objeto y suministran información valiosa sobre su superficie. Para mover la antena de manera rápida y precisa, este artículo propone un nuevo sistema de control en cadena abierta. La estrategia de control para reducir las vibraciones de la antena está basada en la técnica Input Shaping (IS). La antena realiza movimientos libres tanto azimutales como cenitales. Sin embargo, el movimiento cenital es claramente no lineal debido al efecto de la gravedad, el cual previene el uso de técnicas IS lineales. Por tanto, en este artículo se desarrolla un nuevo IS no lineal que tiene en cuenta el término de la gravedad. Los experimentos muestran la mejora en la reducción de la vibración del extremo para movimientos libres de la antena gracias a la técnica propuesta.

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Section: Fundamentos Y Explicación Del Uso Del Is No Linealunclassified

Control de una antena sensora mediante la técnica de Input Shaping no lineal

Feliu-Talegón

Feliu-Batlle

Castillo-Berrio

2016

Revista Iberoamericana de Automática e Informática Industrial R

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“…However, this method is tailored only for linear systems. It was also used in nonlinear system, but some nonlinear terms were neglected, for example, Feliu-Talegón et al (2014).…”

Section: Introductionmentioning

confidence: 99%

Vibration control of very large and lightweight structures mounted on a four-legged platform

Feliu-Talegón¹,

Feliu-Batlle

2022

Journal of Vibration and Control

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Large lightweight slender links mounted on mobile robots enlarge their workspace. This work presents one of these robots that has been endowed with 4 legs to improve its static stability—which is put at risk by the large link—and help in the positioning of the link. The efficiency of this system depends on its accuracy in positioning and orientating the end-effector placed at the tip of the link, which is compromised by vibrations that appear in the link during the movement and permanent deflections caused by gravity. A relatively simple control scheme that combines a feedback control of the pose of the mobile platform with a feedforward term that orientates the link is proposed. It uses three legs as actuators; and feeds back measurements of the extensions of the three legs and the orientation of the platform given by an inertial sensor placed in the upper part of the mobile platform. Based on the flatness property of a simplified dynamic model of the link, its dynamics can be easily inverted, being used to implement the proposed feedforward term. Since such feedforward term is used, extra sensors to measure the deflection of the link are not needed, and since the legs are used to move the link, extra actuators mounted on the link are neither needed. All this allows us to reduce the weight and the volume of the payload carried by the mobile platform. Results obtained through a finite elements software and experimentation of the real prototype show the good performance attained with the proposed control strategy.

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Fractional Control of a Lightweight Single Link Flexible Robot Robust to Strain Gauge Sensor Disturbances and Payload Changes

2021

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In this paper, a method to control one degree of freedom lightweight flexible manipulators is investigated. These robots have a single low-frequency and high amplitude vibration mode. They hold actuators with high friction, and sensors which are often strain gauges with offset and high-frequency noise. These problems reduce the motion’s performance and the precision of the robot tip positioning. Moreover, since the carried payload changes in the different tasks, that vibration frequency also changes producing underdamped or even unstable time responses of the closed-loop control system. The actuator friction effect is removed by using a robust two degrees of freedom PID control system which feeds back the actuator position. This is called the inner loop. After, an outer loop is closed that removes the link vibrations and is designed based on the combination of the singular perturbation theory and the input-state linearization technique. A new controller is proposed for this outer loop that: (1) removes the strain gauge offset effects, (2) reduces the risk of saturating the actuator due to the high-frequency noise of strain gauges and (3) achieves high robustness to a change in the payload mass. This last feature prompted us to use a fractional-order PD controller. A procedure for tuning this controller is also proposed. Simulated and experimental results are presented that show that its performance overcomes those of PD controllers, which are the controllers usually employed in the input-state linearization of second-order systems.

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A Nonlinear Input Shaping Technique for Motion Control of a Sensing Antenna

Cited by 3 publications

References 13 publications

Control de una antena sensora mediante la técnica de Input Shaping no lineal

Control de una antena sensora mediante la técnica de Input Shaping no lineal

Vibration control of very large and lightweight structures mounted on a four-legged platform

Fractional Control of a Lightweight Single Link Flexible Robot Robust to Strain Gauge Sensor Disturbances and Payload Changes

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