Adaptive Trajectory Control and Dynamic Friction Compensation for a Flexible-Link Robot

Erfanian, Vahid; Kabganian, Mansour

doi:10.1017/s1727719100003063

Cited by 9 publications

(4 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Sliding mode is a robust control method which has been widely applied to many nonlinear systems [10][11][12][13][14][15]. This section provides an overview of derivations of torque control system for electrical load simulator's system.…”

Section: Adaptive Fuzzy Sliding Mode Control For Electrical Load Simumentioning

confidence: 99%

Loads Simulator System for Testing and Qualification of Flight Actuators

Ullah¹

2016

Recent Progress in Some Aircraft Technologies

View full text Add to dashboard Cite

The flight actuation system plays important role in the accurate guidance of the flight vehicles. The actuators driving the control surfaces are aerodynamically loaded during flight. The design, testing and selection process of the flight actuators play important role to ensure the stable and safe flight. Since a reliable flight actuation system can ensure appropriate guidance, the importance of qualification process cannot be neglected. Qualification of the actuators through field trials is a very costly and time-consuming process. The testing process using real flights takes more time and is costly. For ground testing, aerodynamic loading systems are used. The aerodynamic loading system is ground-based hardware in the loop (HWIL) simulator that can be used for exerting aerodynamic loads on actuation system of flight vehicles in real-time experiment. The actuation system under test is directly connected to the loading motor through a stiff shaft and the aerodynamics loading is applied in real time according to the flight trajectory generated by a flight computer.This chapter is preliminarily focused on the basic working principle, mathematical modelling and torque/force control system design of the load simulator system. As a case study, the response and dynamics of the electrical aerodynamic loading system are analysed using mathematical modelling concept. The dynamic model is discussed and adaptive fuzzy sliding mode control techniques are introduced to ensure the highperformance torque loop of the aerodynamic loading systems.

show abstract

Section: Adaptive Fuzzy Sliding Mode Control For Electrical Load Simumentioning

confidence: 99%

Loads Simulator System for Testing and Qualification of Flight Actuators

Ullah¹

2016

Recent Progress in Some Aircraft Technologies

View full text Add to dashboard Cite

show abstract

“…Substituting Eqs. (17) and (18) into Eq. 14, and assuming K 1 , K 2 > 0, a Hurwitz dynamic for tracking error will be achieved as¨ê…”

Section: Partial Feedback Linearization (Contact Free)mentioning

confidence: 99%

“…Additionally, certain problems arise when flexible links are exposed to unknown phenomena such as uncertain friction 17 and unknown bounded external disturbing forces. 21 The uncertain nature of these phenomena creates control difficulties, which should be handled using adaptive or robust schemes.…”

Section: Introductionmentioning

confidence: 99%

A force observation method for tracking control of flexible-link manipulators

et al. 2012

View full text Add to dashboard Cite

SUMMARYIn this paper, a composite controller is proposed for single-link flexible manipulators exposed to external tip force disturbances. In the proposed scheme, the extended Kalman filter is utilized to observe the environmental forces and the Lyapunov redesign robust controller is applied to control the destabilizing effect of the observation errors in noisy situations. The observed force can be utilized in different applications (such as tele-surgical robotics) in order to eliminate the necessity of additional force sensors. This fact is important for structural miniaturization and cost reduction. The main contributions of this paper are (1) proposing a disturbance observation technique for in-contact flexible link manipulators (note that the challenge of Jacobian singularity is studied as a possible diverging factor of the observation) and (2) proposing the composite robust controller to eliminate the destabilizing effect of estimation errors. The advantages of the proposed control scheme over the conventional techniques are analyzed. Simulation results are given for a single-link flexible manipulator to illustrate the effectiveness of the composite control technique and experimental results are given to validate the performance of the observation method.

show abstract

“…On the other hand, most model-based studies do not incorporate the very significant non-linear effects of friction at low speeds: an effect capable of generating additional modes of oscillations in the system (Hisseine and Lohmann, 2001;Kim and Parker, 1993;Rokui and Khorasani, 1997). Besides, several robust control strategies and on-line identification techniques have been reported for improving controller performance under model uncertainties, bonded disturbance effects and friction (Atashzar et al, 2010;Erfanian and Kabganian, 2009;Lee et al, 2007;Mamani et al, 2011); however, there is merit in the continuing evaluation of the real-time cost of implementing these robust schemes.…”

Section: Introductionmentioning

confidence: 99%

Tip trajectory control of a flexible-link manipulator using an intelligent proportional integral (iPI) controller

Agee

Bingül

Kizir

2014

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

This paper presents the development, stability analysis and validation of an intelligent proportional integral (iPI) controller for the tip position control of a flexible-link manipulator. A stability analysis included in the paper shows that the iPI controller is equivalent to the proportional integral-squared controller. In order to verify the performance of the iPI controller, several experiments were conducted. In these experiments, step and square-wave inputs and two other trajectories were applied to the flexible-link manipulator. Also, the performance of the iPI controller was compared with those of classical PI and PID controllers. The results obtained from the comparison experiments showed that, the PI and PID controllers produced better performance in step and square-wave inputs, but the iPI controller yielded better trajectory tracking performance. All of the controllers were tested for disturbance and noise rejection capability. The iPI controller eliminated disturbance and noise better than the classical controllers. Considering all of the results, the iPI controller has great potential in trajectory tracking control of flexible-link manipulators.

show abstract

Adaptive Trajectory Control and Dynamic Friction Compensation for a Flexible-Link Robot

Cited by 9 publications

References 14 publications

Loads Simulator System for Testing and Qualification of Flight Actuators

Loads Simulator System for Testing and Qualification of Flight Actuators

A force observation method for tracking control of flexible-link manipulators

Tip trajectory control of a flexible-link manipulator using an intelligent proportional integral (iPI) controller

Contact Info

Product

Resources

About