Motion control of an oscillatory-base manipulator in the global coordinates

This paper presents an estimation method of ship oscillation subject to ship speed variation, which leads to oscillation frequency variation. Such variation will deteriorate the estimation performance particularly when relying on a model-based estimation algorithm such as the Kalman filter. To overcome the problem, we propose an estimation method of ship oscillation with a low-cost gyro rate sensor, which incorporates periodic updates of fast Fourier transform (FFT)-based model and a method of selectively combining multiple H∞ and Kalman filters according to an innovation-based criterion. The latter algorithm is the heart of our estimation method, which aims at utilizing the advantage of each filter. Some simulation results show that the proposed method is more effective than the conventional H∞ and Kalman filters.

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“…where N M ean is the rounded integer of (f M ax ∆t) −1 , f M ax is the frequency with the maximum amplitude in (3).…”

Section: Methods Of Selectively Combining Multiple H ∞ and Kalman Fmentioning

confidence: 99%

Estimation of ship oscillation subject to ship speed variation using an algorithm combining H<inf>∞</inf> and Kalman Filters

Sato

Toda

2014

11th IEEE International Conference on Control &Amp; Automation (ICCA)

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“…Assume that θ 1 ,θ 1 , θ 2 ,θ 2 , and θ b can be measured and in (1) M , C, G are known functions while H an unknown one. Physical parameters of the manipulator such as a mass are taken from [12] for control design and simulations.…”

Section: Problem Setting and Dynamic Modelmentioning

confidence: 99%

“…To achieve desirable motion control, it is necessary to overcome H(θ,θ,θ b ,θ b ). Therefore, the control problem dealt with is how to achieve motion control with suppressing the disturbances [10]- [12]. Assume that θ 1 ,θ 1 , θ 2 ,θ 2 , and θ b can be measured and in (1) M , C, G are known functions while H an unknown one.…”

Section: Problem Setting and Dynamic Modelmentioning

confidence: 99%

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Motion control of an oscillatory-base manipulator using sliding mode control via rotating sliding surface with variable-gain integral control

Iwamura

Toda

2013

2013 American Control Conference

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In this paper, we present a motion control method of oscillatory-base manipulators, which are associated with mechanical systems installed on vessels or ocean structures. The typical property of such systems is strong and persistent disturbance due to the base oscillation to be overcome. Therefore, we attempt to exploit the sliding mode control (SMC) concept which is known to be a powerful tool to develop a robust control system against disturbances and model uncertainties. Specifically, we propose a novel approach based on SMC by introducing a nonlinear sliding surface with variable-gain integral control. We address control system design and stability analysis for the proposed SMC, and demonstrate its control performance by simulations. The results show that the proposed control method can achieve successful control performance for oscillatory-manipulators and further exhibits advantageous features with respect to control performance and control inputs when compared with the conventional SMC.

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“…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. Meanwhile, we attempted to apply sliding mode control, which is also known to be powerful to disturbance rejection and robust control problems [9], [15]- [18], and obtained preliminary results by simulations [19].…”

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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Motion control of an oscillatory-base manipulator in the global coordinates

Cited by 6 publications

References 5 publications

Estimation of ship oscillation subject to ship speed variation using an algorithm combining H<inf>∞</inf> and Kalman Filters

Estimation of ship oscillation subject to ship speed variation using an algorithm combining H<inf>∞</inf> and Kalman Filters

Motion control of an oscillatory-base manipulator using sliding mode control via rotating sliding surface with variable-gain integral control

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

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Motion control of an oscillatory-base manipulator in the global coordinates

Cited by 6 publications

References 5 publications

Estimation of ship oscillation subject to ship speed variation using an algorithm combining H<inf>&#x221E;</inf> and Kalman Filters

Estimation of ship oscillation subject to ship speed variation using an algorithm combining H<inf>&#x221E;</inf> and Kalman Filters

Motion control of an oscillatory-base manipulator using sliding mode control via rotating sliding surface with variable-gain integral control

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

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Estimation of ship oscillation subject to ship speed variation using an algorithm combining H<inf>∞</inf> and Kalman Filters

Estimation of ship oscillation subject to ship speed variation using an algorithm combining H<inf>∞</inf> and Kalman Filters