Fractional-Order Passivity-Based Adaptive Controller for a Robot Manipulator Type Scara

Lavín-Delgado, J. E.; Chávez-Vázquez, S.; Gómez‐Aguilar, J.F.; Delgado-Reyes, Gustavo; Ruiz-Jaimes, Miguel A.

doi:10.1142/s0218348x20400083

Cited by 14 publications

(7 citation statements)

References 16 publications

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“…Moreover, it follows from lemma 2 that the fractional-order error system is Mittag-Leffler stable under the controller (11), which completes the proof. , Remark 1.…”

Section: Resultsmentioning

confidence: 54%

“…Fractional-order differential equations can well describe the complexity and stability of fractional-order systems (FOSs) as the evolution process of dynamic systems can be characterized accurately. FOSs have many practical applications, such as robot control [11,12] and signal processing [13,14] because the parameters in the controller design based on FOD have a larger tuning range. By use of fractional-order differential equations, FOSs can better characterize the dynamic behavior of real problems than the traditional integer-order systems.…”

Section: Introductionmentioning

confidence: 99%

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Back-stepping projective synchronization of fractional-order unified systems based on the lower triangular structure

Peng,

Yang,

Lin

et al. 2023

Phys. Scr.

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The synchronization of fractional-order chaotic systems (FOCSs) plays an important role in modern control theory, the projective synchronization (PS) as a class of synchronization problems, also has huge applications and has attracted much attention. It is, however, shown in the obtained literature that the results on the PS of FOCSs either loss the rigorous theoretical demonstration or verify from the viewpoint of numerical simulations. How to derive a necessary and sufficient condition to guarantee the PS of complex FOCSs by a simple controller is still open. To this end, this article is concerned with the PS of fractional-order unified systems (FO-USs)that are important in FOCSs covering fractional-order Lorenz, Chen and Lu systems, where the controller is presented based on the lower triangular structure by use of the back-stepping technique. The necessary and sufficient criterion for the PS of FO-USs is proposed by solving an algebraic equation, and the controller for the PS of FO-USs is derived based on the lower triangular structure combined with back-stepping approach. Finally, the simulation results are reported to verify the correctness and efficiency of the obtained results.

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“…Moreover, it follows from lemma 2 that the fractional-order error system is Mittag-Leffler stable under the controller (11), which completes the proof. , Remark 1.…”

Section: Resultsmentioning

confidence: 54%

Section: Introductionmentioning

confidence: 99%

Back-stepping projective synchronization of fractional-order unified systems based on the lower triangular structure

Peng,

Yang,

Lin

et al. 2023

Phys. Scr.

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show abstract

“…When 3C products need to lock multiple holes in known positions, the end effector of the SCARA locking robot can travel the shortest path from the position waiting for work on the production line and pass through all the locking hole positions and lock the screws. After the screw locking is completed, the end effector returns to the initial position [14,15]. At this time, the assembly line continues to move forward and the next laptop to be assembled moves to the assembly position [16,17].…”

Section: Spatial Trajectorymentioning

confidence: 99%

“…e optimal path of fixed hole and floating hole can be solved by using equations ( 11) and (15). When the fixed hole is optimized, x i , y i , z i represent the definite value, and when the floating hole is optimized, x i , y i , z i represent the corresponding floating value.…”

Section: (14b)mentioning

confidence: 99%

Machining Path Optimization of 3C Locking Robots Using Adaptive Ant Colony Optimization

Luo

Wei

et al. 2021

Mobile Information Systems

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The motion smoothness of 3C locking robot directly affects the machining performance. Improving the motion smoothness can optimize the motion trajectory and reduce the processing time. In this paper, a novel machining path optimization model including motion smoothness is built by employing the coordinate boundary of velocity and acceleration after evaluating the machining motion smoothness of the 3C locking robot. Secondly, based on the creation of the ant colony of adaptive function algorithm, the optimization model of the 3C locking robot in the situation of fixed bolt hole position and floating bolt hole position is resolved. Lastly, the proposed approach collects and analyses a huge amount of data to enable robots to make on-the-fly decisions in the middle of production, even when faced with unexpected circumstances. In the Spark distributed environment, we use the conventional K clustering technique to improve the final output utilizing clustering means. The results show that the machining path optimization of fixed hole considering the motion smoothness improves the smoothness but extends the machining path; the cooperative machining path optimization of multiregion floating bolt holes can significantly improve the motion smoothness and effectively reduce the length of the path. The research results provide theoretical support and design guidance for designers.

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“…is control scheme is suitable for scenarios with low precision requirements. With the increase in production technology, industrial manufacturing puts forward higher requirements for the control accuracy of the manipulator and, at the same time, requires the end of the manipulator to track the given reference trajectory motion [4,[8][9][10]. With the advent of the era of intelligent manufacturing, the tasks of the manipulator have become re ned, and industrial production has put forward higher requirements for the accuracy of the manipulator [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Control Algorithm of Flexible Joint Manipulator Based on Random Matrix and Screw Theory

Guo

Da-shuai

2022

Mathematical Problems in Engineering

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Flexible articulated manipulators are often used for the task of tracking reference trajectories in space and have attracted much attention. Aiming at the uncertainty of the robot system, based on random matrix and screw theory, this paper constructs a trajectory control model of a flexible joint manipulator. In order to reduce the steady-state tracking error, a random matrix variable structure control method is introduced into the model, and a nonlinear spinor-like random matrix function is designed to improve the traditional random matrix surface. In the simulation process, the dynamic model of the series robot is firstly obtained according to the screw and random matrix equation, and the dynamic characteristics are analyzed. Combined with dynamic surface control technology, a neural network controller is designed to solve the problem of dimensional explosion and ensure that the tracking error converges to a small neighborhood of zero. The experimental results show that by using the observation value to replace the unmeasurable state of the system, combining it with the random matrix network to identify the unknown dynamics of the system, and designing the random matrix network controller, the tracking control of the system can be realized, and the tracking error can be ensured to converge to a small neighborhood of zero. The control system has a better control effect than traditional PID, the peak time is shortened by 45.83%, the adjustment time is shortened by 46.91%, the maximum overshoot is reduced by 51.35%, and the steady-state error after filtering is only 0.049, which is reduced by 47.31%. Effective interference signal and measurement noise are suppressed, and the quantitative observation performance of the flexible joint manipulator system is improved.

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Fractional-Order Passivity-Based Adaptive Controller for a Robot Manipulator Type Scara

Cited by 14 publications

References 16 publications

Back-stepping projective synchronization of fractional-order unified systems based on the lower triangular structure

Back-stepping projective synchronization of fractional-order unified systems based on the lower triangular structure

Machining Path Optimization of 3C Locking Robots Using Adaptive Ant Colony Optimization

Trajectory Control Algorithm of Flexible Joint Manipulator Based on Random Matrix and Screw Theory

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