Adaptive control of coupled-drives apparatus based on polynomial theory

Kubalcik, Marek; Bobál, Vladimír

doi:10.1243/09596518jsce108

Cited by 4 publications

(7 citation statements)

References 14 publications

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“…At this stage, decentralized adaptive controllers will be designed and implemented, based on the polynomial technique, proposed by Kubalcik and Bobál (2006), to perform, in real time, the position control of the links 1 and 2 of the manipulator in Fig. 1.…”

Section: Ref Outputmentioning

confidence: 99%

“…It is assumed that the dynamic behavior of the system can be described near the steady state for linear discrete model in the form of matrix fraction (Kubalcik and Bobál, 2006), according to Eq. ( 12).…”

Section: Ref Outputmentioning

confidence: 99%

“…As the dynamics of the robot links is coupled and nonlinear, the adaptive controllers are applied, seeking a good performance for the system, since they are obtained at each sampling period and in real time. In this paper, the algorithm of recursive least squares (RLS) is used in real time to obtain the parameters of links 1 and 2 of the robot under consideration, and these are used in projects and implementation of decentralized adaptive controllers, which use polynomial technique, proposed by Kubalcik and Bobál (2006), aiming to control the position of links 1 and 2 of the robot. The identification of the links is done considering the coupling between them, but the designed adaptive controllers do not take it into consideration.…”

Section: Introductionmentioning

confidence: 99%

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Decentralized adaptive control applied to two links of a five degrees of freedom robot, using the polynomial technique

Riul¹,

Montenegro²,

Pinto³

2022

Lat. Americ. J. of Develop.

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The objective of this work is to design and implement decentralized adaptive controllers in order to perform the position control of two links of an electromechanical manipulator robot with five degrees of freedom (DOF 5). The manipulator robot is consisted of five rotational joints, four links and a claw. Five DC motors are used to drive the robot and the motion transmission from the motors to the joints is achieved by gear trains. Models of the manipulators robots are obtained using Newton-Euler or Lagrange equations; and are coupled and nonlinear. In this work, the model of the links of the manipulator robot is obtained in real time for each sampling period. The parameters of the links to be controlled are identified by recursive least squares (RLS) method, according to data from the links, and are used in the designs of adaptive controllers for the positions control of the joints of the links under analysis. In the end, the experimental results are presented, like the evaluation of the performance achieved by the manipulator robot links.

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Section: Ref Outputmentioning

confidence: 99%

Section: Ref Outputmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Decentralized adaptive control applied to two links of a five degrees of freedom robot, using the polynomial technique

Riul¹,

Montenegro²,

Pinto³

2022

Lat. Americ. J. of Develop.

View full text Add to dashboard Cite

show abstract

“…The control quality is mostly analyzed using general control quality criterions based on sums of powers of control increments and on sums of powers of control errors [8]. These criterions can result only in descriptive attributes of control quality.…”

Section: Introductionmentioning

confidence: 99%

Statistical analysis of control quality of MPC using testing hypothesis

2019

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Methods of the statistical induction have a significant role in the quantitative research. In a wide spectrum of research areas, the methods based on testing hypotheses have been frequently used. However, in the area of the process control, testing hypothesis has not been widely considered as an established tool for signal analyses, although signals in control loops are suitable for analysis by means of quantitative statistical methods due to their stochastic character. Particularly, a statistical paired comparison can be applied for analysis of control quality achieved with different control algorithms. This comparison can be based on a paired comparison of corresponding signals obtained with different or modified control algorithms. The aim of this paper is a proposal of incorporation of testing hypothesis to analysis of control quality. The analysis was performed on a strictly defined significance level 0.001, which is a standardly used value in technical applications. As an example was demonstrated analysis of control quality achieved with two versions of a predictive controller. Finally, achieved results of paired comparison using testing hypothesis are discussed.

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“…Some examples include adaptive polynomial control [Bobál et al, 2004, Kubalčík and Bobál, 2002, Kubalčík et al, 2005, polynomial control of time-delay systems [Dostál et al, 2002] or H 2 control [Mikleš et al, 2005]. In this contribution we implement the 2DoF controller with integral action in Matlab's Real Time Workshop (RTW) environment and furthermore, the overall procedure will be tested on a laboratory equipment consisting of a quadruple coupled hydraulic tank system.…”

Section: Introductionmentioning

confidence: 99%