Adaptive fuzzy Lyapunov-based model predictive control for parallel platform driving simulators

Mạnh, Cường Nguyễn; Nguyen, Nhu Toan; Duy, Nam Bui; Nguyễn, Tùng Lâm

doi:10.1177/01423312221122470

Cited by 5 publications

(4 citation statements)

References 48 publications

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“…Thanks to their closed-loop structure, parallel mechanisms have many important capabilities such as highly accurate positioning, working under high loads, and performing high-speed and high-acceleration tasks [1,2]. For these reasons, they are more and more preferred in simulator technologies [3,4], industrial robots [5,6], machining [7−9], additive manufacturing [10,11], medical and surgical robotics [12−14].…”

Section: Introductionmentioning

confidence: 99%

Path and trajectory planning of a RPRPR planar parallel robot for prevention of high-order singularities

ÖZDEMİR,

KARAKAYA

2024

Proc. Rom. Acad. Ser. A - Math. Phys. Tech. Sci. Inf. Sci.

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Parallel robots have many remarkable advantages over their conventional serial counterparts. Highly accurate positioning capability and high payload-to-weight ratio are among the main ones. The main factor underlying all these advantages is their closed-loop construction. However, this constructional feature also causes a special singularity problem, which constitutes their biggest disadvantage. Characteristic singularities classified as Type II exist inside their workspace, around which the magnitude of the inverse dynamic solution grows unboundedly. This naturally yields the saturation of the actuators and eventually in uncontrollability of the robot. Consequently, the whole workspace becomes impossible to be used. In order to pass through a Type II singularity, the consistency of the motion equations of the robot must be maintained at that singularity. However, any Type II singular configuration can transform into a high-order singularity, which, in order to be passed through, requires additional conditions other than the consistency. Therefore, full utilization of the whole workspace with a minimum number of conditions requires to avoid high-order singularities. The present article contributes to the literature by developing path and trajectory planning principles for preventing a two-degree-of-freedom planar parallel robot with RPRPR structure from experiencing high-order singularities.

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Section: Introductionmentioning

confidence: 99%

Path and trajectory planning of a RPRPR planar parallel robot for prevention of high-order singularities

ÖZDEMİR,

KARAKAYA

2024

Proc. Rom. Acad. Ser. A - Math. Phys. Tech. Sci. Inf. Sci.

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“…A class of Lyapunov-based nonlinear controller was developed in [23]- [25], where explicit initial conditions were raised for bounded robust stability, and yet no performance was considered. Currently, a focus is Lyapunov-based MPC (LMPC) in various complicated systems such as robot systems [26], distributed systems [27] and intelligent systems. Besides, LMPC can be combined with other schemes (e.g., fuzzy control and adaptive control) to enhance performance and robustness.…”

Section: Introductionmentioning

confidence: 99%

Lyapunov Based Nonlinear Model Predictive Control of Wind Power Generation System With External Disturbances

Luo,

Li,

Liu

et al. 2024

IEEE Access

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Wind energy has been promoted as an environmentally-friendly and sustainable energy. The boost of wind power generation has greatly promoted the developments of modern urbanization. However, the characteristics of complexity, nonlinearity, constraints and multivariability make the controller design challenging. In this work, a Lyapunov-based MPC framework is proposed for nonlinear wind power systems with external disturbances and constraints. Firstly, a typical doubly-fed wind power generation system is established in line with the physical models of key components, i.e., wind turbine, transformation device and generator. Then, considering the exogenous disturbances, a nonlinear Lyapunov-based MPC framework is proposed for the wind power generation system. The optimization objective and constraints are constructed to formulate the control problem. As well, the closed-loop stability of presented MPC approach is derived. In the end, an actual 5MW wind power system is utilized to verify and analyze the effectiveness of designed controller under different wind speeds and weighting parameters.

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“…According to the complex engineering topology, the system prediction model [19] is customized to eliminate unnecessary intermediate calculation steps. The rolling optimization strategy [20] is used to correct the system state regularly, and the system control action [21] is generated online to minimize the simulation error. Consequently, the adjustment effect is significantly improved.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Control Operation Method of Water Diversion Project Based on River Diversion Disturbance

Jin

Wang

Sun

et al. 2023

Water

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Changes in water diversion flow are the major disturbance sources in the daily operation of water diversion projects. Ensuring efficient and safe project operation while dealing with different degrees of water diversion disturbance is crucial for real-time control operation. Based on the historical water diversion projects in China and abroad, this study constructs the water diversion disturbance conditions, selects the typical disturbance lines, and constructs the control objectives for different water diversion disturbance lines. The discrete state space equation of the multi-channel pool integral time-delay model is introduced and used as the system prediction model. Concurrently, the simulation results of the river channel hydrodynamic model are used to correct the system state. The model predictive control algorithm is established according to the objective functions of different typical water distribution disturbance lines, and the control strategy of the control gate and pump station along the water diversion project is formulated to assist in the decision making of the project scheduling operation scheme. The proposed method can better cope with different degrees of river diversion disturbance, compensate for the loss of control performance caused by the low accuracy of the generalized model simulation, and improve water level control and sluice regulation.

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Adaptive fuzzy Lyapunov-based model predictive control for parallel platform driving simulators

Cited by 5 publications

References 48 publications

Path and trajectory planning of a RPRPR planar parallel robot for prevention of high-order singularities

Path and trajectory planning of a RPRPR planar parallel robot for prevention of high-order singularities

Lyapunov Based Nonlinear Model Predictive Control of Wind Power Generation System With External Disturbances

Real-Time Control Operation Method of Water Diversion Project Based on River Diversion Disturbance

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