An&amp;lt;tex&amp;gt;$cal H_infty $&amp;lt;/tex&amp;gt;Control-Based Approach to Robust Control of Mechanical Systems With Oscillatory Bases

Toda, Masayoshi

doi:10.1109/tra.2004.824642

Cited by 25 publications

(12 citation statements)

References 28 publications

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“…The key idea in [94] as the control methodology was collaboration of H ∞ control, linear state-feedback control, and nonlinear state-feedback control. This method was extended to problems of multiple-DOF manipulators in local coordinates, i.e., a multi-input multi-output (MIMO) system [95] and further its robust control feature was enhanced by developing a machinery, the "extended matrix polytope" and by utilizing µ-synthesis based on the machinery. Then, in [82], we applied the method to the global-coordinate problems of OBMs by extending the control design method for local-coordinate problems.…”

Section: Previous Work and Contents Of The Monographmentioning

confidence: 99%

Robust Motion Control of Oscillatory-Base Manipulators

Toda¹

2016

Lecture Notes in Control and Information Sciences

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About this SeriesThis series aims to report new developments in the fields of control and information sciences-quickly, informally and at a high level. The type of material considered for publication includes:1. Preliminary drafts of monographs and advanced textbooks 2. Lectures on a new field, or presenting a new angle on a classical field 3. Research reports 4. Reports of meetings, provided they are (a) of exceptional interest and (b) devoted to a specific topic. The timeliness of subject material is very important. More information about this series atAdditional material to this book can be downloaded from http://extras.springer.com.

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Section: Previous Work and Contents Of The Monographmentioning

confidence: 99%

Robust Motion Control of Oscillatory-Base Manipulators

Toda¹

2016

Lecture Notes in Control and Information Sciences

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“…In order to attenuate the influence of the disturbance d, we have to effectually shape S p , which is the sensitivity function from d to −e, by making the gains of S p as small as possible at the base motion frequencies ω i 's. Furthermore, since r also includes the frequency modes ω i 's as previously mentioned, the same property is required for S. This is not the case for S in the case of local coordinates [13].…”

Section: B Strategy For Shaping Sensitivity Functionsmentioning

confidence: 99%

“…Here, motion control in local coordinates, i.e., base-fixed coordinates, was considered assuming a one degree of freedom (DOF) manipulator with a one-DOF base, and a control design method based on H ∞ control and PD control was proposed. The proposed method was extended further to multiple-DOF manipulators [13], and its robust control feature was enhanced by developing a machinery, "an extended matrix polytope," and by utilizing μ-synthesis based on the machinery. The preliminary version of this paper [14] tackled the motion control in global coordinates of an oscillatory-base manipulator by extending the control design method for local-coordinate problems and demonstrated its effectiveness by conducting simulations.…”

Section: Introductionmentioning

confidence: 99%

Robust Motion Control of an Oscillatory-Base Manipulator in a Global Coordinate System

Sato

Toda

2015

IEEE Trans. Ind. Electron.

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This paper presents a control design method for motion control in a global coordinate system of an oscillatory-base manipulator, which can be regarded as a model system of mechanical systems installed on vessels or oceanic structures. This paper proposes a control design method for such systems exploiting H ∞ control and proportional and derivative (PD) control. In order to evaluate the proposed method, tracking control simulations and experiments were conducted for both attitude control and position control with practical constraints such as sensor error and actuator saturation. Furthermore, the proposed controller was compared with a conventional proportional, integral, and derivative (PID) controller. The results demonstrate that the proposed controller is successfully effective and is superior to the PID controller. Moreover, robust control experiments and robust stability analyses using our proposed machinery show that the proposed controller has strong robustness against physical parametric perturbations. Our developed robust stability analysis machinery is based on the state-dependent coefficient form and applicable to a wider class of systems than the previous one.

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“…Most of the previous work relating to oscillatory base manipulators falls into the type of inertial task space and on external disturbances [4]. The main issues of this kind of problem are decoupling of the manipulator and base dynamics and damping the base oscillation, for which several approaches have been proposed, such as task-space feedback [5,6], filtering command [7], path planning [6], acceleration feedback [1] and active damping approaches [2,8].…”

Section: Introductionmentioning

confidence: 99%

A Hierarchical Supervisory Fuzzy Controller for Robot Manipulators with Oscillatory Bases

Lin¹,

Huang²

2006

2006 IEEE International Conference on Fuzzy Systems

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The research focuses on the issue of controlling a manipulator attached to a deployment, which typically exhibits compliance due to its mechanical nature. The problem is generalized as a motion control of a robotic manipulator attached to oscillatory bases. Due to the complexity of this problem, we decompose the control task into two subtasks and distribute them over two different levels. In the design of hierarchical fuzzy control structure, the lower level controllers take into account each subsystem ignoring the interactions among them, while higher-level controller handles subsystem interactions. The upper-level coordinator (supervisory) to deal with the model reduction error and makes the supervisory decision to the lower level. Moreover, the supervisory fuzzy rule set is used to adjust the weighting factors of the hierarchical fuzzy controller to achieve better performance. Finally, the composite control strategy can be applied for the full system. The results of this study can be feasible to various mechanical systems, such as mobile robot, gantry cranes, underwater robot, and other dynamic systems mounted on oscillatory bases.

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An<tex>$cal H_infty $</tex>Control-Based Approach to Robust Control of Mechanical Systems With Oscillatory Bases

Cited by 25 publications

References 28 publications

Robust Motion Control of Oscillatory-Base Manipulators

Robust Motion Control of Oscillatory-Base Manipulators

Robust Motion Control of an Oscillatory-Base Manipulator in a Global Coordinate System

A Hierarchical Supervisory Fuzzy Controller for Robot Manipulators with Oscillatory Bases

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