A Review of Intelligent Control Algorithms Applied to Robot Motion Control

Zhang, Qian; Sun, Xi; Tong, Fei; Chen, Hua

doi:10.1109/cyber.2018.8688124

Cited by 5 publications

(3 citation statements)

References 28 publications

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“…The key idea is to assume of a fault as a bounded uncertainty that can be compensated while using a nominal control system. The block diagram presentation of of A-FTCS method is presented in Fig 4 . The controller is designed on the basics of fault information in the A-FTCS, and the first step is fault detection to acquire fault information [15]. An A-FTCS technique is suggested for additive sensor faults in [16].…”

Section: Plos Onementioning

confidence: 99%

Fault-tolerant scheme for robotic manipulator—Nonlinear robust back-stepping control with friction compensation

2021

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Emerging applications of autonomous robots requiring stability and reliability cannot afford component failure to achieve operational objectives. Hence, identification and countermeasure of a fault is of utmost importance in mechatronics community. This research proposes a Fault-tolerant control (FTC) for a robot manipulator, which is based on a hybrid control scheme that uses an observer as well as a hardware redundancy strategy to improve the performance and efficiency in the presence of actuator and sensor faults. Considering a five Degree of Freedom (DoF) robotic manipulator, a dynamic LuGre friction model is derived which forms the basis for design of control law. For actuator’s and sensor’s FTC, an adaptive back-stepping methodology is used for fault estimation and the nominal control law is used for the controller reconfiguration and observer is designed. Fault detection is accomplished by comparing the actual and observed states, pursued by fault tolerant method using redundant sensors. The results affirm the effectiveness of the proposed FTC strategy with model-based friction compensation. Improved tracking performance as well robustness in the presence of friction and fault demonstrate the efficiency of the proposed control approach.

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Section: Plos Onementioning

confidence: 99%

Fault-tolerant scheme for robotic manipulator—Nonlinear robust back-stepping control with friction compensation

2021

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“…Instead of adjusting the controller to changes in the operating condition of the plant online, like in adaptive approaches, 47 in this paper we present a novel model-reference approach for the direct data-driven control of PWA systems, focusing on the single-input-single-output (SISO) setting only. This allows us to set the foundations for future extensions to the multiple-input-multiple-output (MIMO) case, in which not only the nonlinear nature of the plant has to be accounted for but also (unknown) input couplings.…”

Section: Introductionmentioning

confidence: 99%

Direct data‐driven design of switching controllers

Breschi

Formentin

2019

Intl J Robust & Nonlinear

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Switching linear models can be used to represent the behavior of hybrid, time-varying, and nonlinear systems, while generally providing a satisfactory trade-off between accuracy and complexity. Although several control design techniques are available for such models, the effect of modeling errors on the closed-loop performance has not been formally evaluated yet. In this paper, a data-driven synthesis scheme is thus introduced to design optimal switching controllers directly from data, without needing a model of the plant. In particular, the theory will be developed for piecewise affine controllers, which have proven to be effective in many real-world engineering applications. The performance of the proposed approach is illustrated on some benchmark simulation case studies.

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“…Theoretical research has been mature in the field of search robotics, including robot motion control systems and path planning algorithms, etc. 3,4 Over the years, different types of USAR robots have been developed and applied in many real disaster sites. After the 2001 World Trade Center attack, USAR robots participated in rescue tasks.…”

mentioning

confidence: 99%

Rescue Robots for the Urban Earthquake Environment

Hou

et al. 2022

Disaster med. public health prep.

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Robotics have important applications in the field of disaster medical rescue. The deployment of urban rescue robots at the earthquake site can help shorten response time, improve rescue efficiency and keep rescue personnel away from danger. This discussion introduces the performance of some robots in actual rescue scenarios, focuses on the current research status of robots that can provide medical assistance, and analyzes the merits and shortcomings of each system. Based on existing studies, the limitations and development directions of urban rescue robots are also discussed.

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A Review of Intelligent Control Algorithms Applied to Robot Motion Control

Cited by 5 publications

References 28 publications

Fault-tolerant scheme for robotic manipulator—Nonlinear robust back-stepping control with friction compensation

Fault-tolerant scheme for robotic manipulator—Nonlinear robust back-stepping control with friction compensation

Direct data‐driven design of switching controllers

Rescue Robots for the Urban Earthquake Environment

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