Boundary Control of a Flexible Robotic Manipulator With Output Constraints

Liu, Zhijie

doi:10.1002/asjc.1342

Cited by 66 publications

(25 citation statements)

References 34 publications

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“…In [19], a flexible one-dof manipulator with input disturbances and output constraints is considered. With the Lyapunov's direct method, a boundary control with tanh structure is designed to regulate the joint position and suppress elastic vibration simultaneously.…”

Section: Introductionmentioning

confidence: 99%

An asinh-type regulator for robot manipulators with global asymptotic stability

Reyes-Cortés

Al‐Hadithi

2020

Automatika

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In this paper, a new asinh-type control scheme with gravity compensation for the position control problem of robot manipulators in joint space is presented. The properties and characteristics of the asinh control structure make the position error and the motion velocity asymptotically converge to the equilibrium point. A strict Lyapunov function to formally prove global asymptotic stability is developed. The tuning of the control gains is obtained by PSO (Particle Swarm Optimization) technique without saturating the servomotors. To illustrate the effectiveness and performance of the proposed scheme, an experimental comparative analysis between the proportional-derivative (PD) and atanh controls against the proposed algorithm on a three degrees of freedom direct-drive robot manipulator is carried out.

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Section: Introductionmentioning

confidence: 99%

An asinh-type regulator for robot manipulators with global asymptotic stability

Reyes-Cortés

Al‐Hadithi

2020

Automatika

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“…The PDE dynamic model of the flexible aircraft wing system consists of several PDEs and ODEs. Due to the actuator and sensor limitations, boundary control is a preferred control method in various flexible structure systems [13][14][15][16][17][18][19][20]. In addition, boundary control is easier to be implemented in practical engineering applications.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fault‐tolerant control for a nonlinear flexible aircraft wing system

Zhang

Liu

2018

Asian Journal of Control

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Fault‐tolerant control problems have been extensively studied in all kinds of control systems. However, there is little work on fault‐tolerant control for distributed parameter systems. In this paper, a novel adaptive fault‐tolerant boundary control scheme is proposed for a nonlinear flexible aircraft wing system against actuator faults. The whole system is regarded as a distributed parameter system, and the dynamic model of the flexible wing system is described by a set of partial differential equations (PDEs) and ordinary differential equations (ODEs). The proposed controller is designed by using the Lyapunov's direct method and adaptive control strategies. Based on the online estimation of actuator faults, the adaptive controller parameters can update automatically to compensate the actuator faults of the system. Besides, a fault‐tolerant controller is also developed for this system in the presence of external disturbances. Differing from existing works about adaptive fault‐tolerant control, the adaptive controller presented in this paper is designed for a distributed parameter system. Finally, numerical simulations are carried out to illustrate the effectiveness of the proposed control scheme.

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“…The industrial robots executing such tasks, however, have various motion constraints, saturation, and rate limits. They are state space constrained systems .…”

Section: Introductionmentioning

confidence: 99%

State Space Constrained Iterative Learning Control for Robotic Manipulators

Yovchev

Delchev

Krastev

2017

Asian Journal of Control

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Real-life work operations of industrial robotic manipulators are performed within a constrained state space. Such operations most often require accurate planning and tracking a desired trajectory, where all the characteristics of the dynamic model are taken into consideration. This paper presents a general method and an efficient computational procedure for path planning with respect to state space constraints. Given a dynamic model of a robotic manipulator, the proposed solution takes into consideration the influence of all imprecisely measured model parameters, making use of iterative learning control (ILC). A major advantage of this solution is that it resolves the well-known problem of interrupting the learning procedure due to a high transient tracking error or when the desired trajectory is planned closely to the state space boundaries. The numerical procedure elaborated here computes the robot arm motion to accurately track a desired trajectory in a constrained state space taking into consideration all the dynamic characteristics that influence the motion. Simulation results with a typical industrial robot arm demonstrate the robustness of the numerical procedure. In particular, the results extend the applicability of ILC in robot motion control and provide a means for improving the overall trajectory tracking performance of most robotic systems.

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Boundary Control of a Flexible Robotic Manipulator With Output Constraints

Cited by 66 publications

References 34 publications

An asinh-type regulator for robot manipulators with global asymptotic stability

An asinh-type regulator for robot manipulators with global asymptotic stability

Adaptive fault‐tolerant control for a nonlinear flexible aircraft wing system

State Space Constrained Iterative Learning Control for Robotic Manipulators

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