Dynamics Modeling and Adaptive Sliding Mode Control of a Hybrid Condenser Cleaning Robot

Li, Jiabao; Wang, Chengjun

doi:10.3390/act11050119

Cited by 5 publications

(3 citation statements)

References 11 publications

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“…Li studied the attitude control of the four degrees of freedom redundant parallel mechanism of the hybrid condenser cleaning robot, the multidegree of freedom kinematics was studied, and the dynamic model using the principle of virtual work was established. On the basis of this model, an adaptive sliding mode control method is proposed, which significantly reduced the average tracking error of each degree of freedom of the mobile platform by simultaneously estimation and compensation on parameter uncertainties and load disturbances (J. Li & Wang, 2022). Khimani proposed a sliding mode control design based on nonlinear sliding surface, which ensured the high‐performance step response of the uncertain overdrive system.…”

Section: Overview Of Control Theory and Methodsmentioning

confidence: 99%

A review for control theory and condition monitoring on construction robots

Shi

Bai

et al. 2023

Journal of Field Robotics

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The application of robotic technologies in building construction leads to great convenience and productivity improvement, and construction robots (CRs) bring enormous opportunities for the way we conduct design and construction. To get a better understanding of the trends and track the application of CRs for on‐site conditions, this paper conducts a systematic review of control models and status monitoring of CRs, which are two key aspects that determine construction accuracy and efficiency. Control accuracy and flexibility are primary needs for CRs applied in different scenes, so the control methods based on driving models are vitally important. Status monitoring on CRs contains knowledge in fault detection, intelligence maintenance, and fault‐tolerant control, and multiple objectives need to be met and optimized in the whole drive chain. Moreover, the state‐of‐the‐art is comprehensively summarized, and new insights are also provided to carry on promising researches.

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Section: Overview Of Control Theory and Methodsmentioning

confidence: 99%

A review for control theory and condition monitoring on construction robots

Shi

Bai

et al. 2023

Journal of Field Robotics

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“…Although the grating encoders of each joint possess high resolution and measurement accuracy, the pulling between the drive joints can significantly affect the control accuracy of each motor. This pulling arises from the interaction of the joint drive forces and the poor synchronous motion performance of each motor, and existing control methods in joint space often overlook the coordination of motion between motors [36,37].…”

Section: Introductionmentioning

confidence: 99%

Synchronization Control with Dynamics Compensation for Three-Axis Parallel Motion Platform

Zhou,

Gao,

Zhang

2024

Actuators

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The three-axis parallel motion platform (TAPMP) with a common stator has low motion inertia, enabling highly precise and high-speed motion over a large range of strokes. The primary challenge faced by the TAPMP lies in the mutual pulling exerted between the common stator motors during motion. The driving forces generated by the motors are closely associated with their synchronization motion, a connection often overlooked in the design of existing controllers. To address this issue, this paper presents a novel synchronization controller with dynamics compensation (SC–DC) to achieve motion synchronization between the three motors, ultimately enhancing the platform’s tracking accuracy in task space. In this SC–DC method, the synchronization error of the common stator motors is introduced to represent the synchronized motion relationship between adjacent motors, and a dynamic feedforward control is adopted to compensate for the motor’s driving force. The stability of the proposed controller is analyzed using Lyapunov theory, demonstrating the convergence of both the tracking error and synchronization error. Trajectory tracking simulations and experimental studies are conducted on the TAPMP. The results show that, compared to the augmented proportional-derivative controller with dynamic compensation, the proposed controller significantly reduces both the MAE of the tracking error and synchronization error on the q1 motor by 71.88% and 73.02%, respectively, demonstrating its performance advantages in trajectory tracking and synchronization.

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“…Therefore, the model-based control is more suitable for the high-precision control of hydraulic manipulators. Traditional model-based control methods are the model predictive control [13], the sliding mode control [14], the adaptive control [15], and so on. The traditional model-based control requires the establishment of complete dynamic models of hydraulic systems and manipulators.…”

Section: Introductionmentioning

confidence: 99%

High-Precision and Modular Decomposition Control for Large Hydraulic Manipulators

Ding,

Liu,

et al. 2023

Actuators

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It is difficult to achieve a high-precision motion control in hydraulic manipulators due to their structural redundancy, strong coupling of closed-chain structures, and flow–pressure coupling. In this paper, a high-precision motion control method for hydraulic manipulators is proposed based on the traditional virtual decomposition control (VDC). The method proposed avoids an excessive virtual decomposition of the hydraulic manipulator and requires fewer model parameters than the traditional VDC. Further, the control precision improved by combining an adaptive real-time update of the inertial parameters. Compared with MBC, the proposed control method improved the motion accuracy of the hydraulic manipulator by more than 40% and 20% under elliptical and triangular trajectories. The simulation results showed that the proposed control method reduced the maximum position errors in Cartesian space by 90.4%, 86.8%, 23.6%, and 44.3% compared with PID and model-based control (MBC) in the absence of disturbances. The maximum position error in Cartesian space was reduced by 76.5% compared with that of MBC in a simulation with external disturbances. It can be seen from all the simulation results that with the proposed control method, the position error of the manipulator was less than 50 mm. The proposed control method effectively improved the motion precision of the examined hydraulic manipulator.

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Dynamics Modeling and Adaptive Sliding Mode Control of a Hybrid Condenser Cleaning Robot

Cited by 5 publications

References 11 publications

A review for control theory and condition monitoring on construction robots

A review for control theory and condition monitoring on construction robots

Synchronization Control with Dynamics Compensation for Three-Axis Parallel Motion Platform

High-Precision and Modular Decomposition Control for Large Hydraulic Manipulators

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