New Method for Tuning Robust Controllers Applied to Robot Manipulators

Romero, Gerardo; Alcorta, E.; Lara, David; Pérez, Irma; Betancourt, Romeo; Ocampo, Hugo Hernán

doi:10.5772/53734

Cited by 6 publications

(5 citation statements)

References 28 publications

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“…These differ from those of the actual helicopter model due to parametric uncertainties. The function u PD denotes the linear PD controller, where the gains K p and K d are tuned through the LMI-based convex optimization techniques proposed in [22]. The nonlinear controller u NL aims to compensate gravitational torques.…”

Section: Fault-tolerant Control Schemementioning

confidence: 99%

Passive Fault-Tolerant Control of a 2-DOF Robotic Helicopter

et al. 2021

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The presence of faults in dynamic systems causes the potential loss of some of the control objectives. For that reason, a fault-tolerant controller is required to ensure a proper operation, as well as to reduce the risk of accidents. The present work proposes a passive fault-tolerant controller that is based on robust techniques, which are utilized to adjust a proportional-derivative scheme through a linear matrix inequality. In addition, a nonlinear term is included to improve the accuracy of the control task. The proposed methodology is implemented in the control of a two degrees of a freedom robotic helicopter in a simulation environment, where abrupt faults in the actuators are considered. Finally, the proposed scheme is also tested experimentally in the Quanser® 2-DOF Helicopter, highlighting the effectiveness of the proposed controller.

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Section: Fault-tolerant Control Schemementioning

confidence: 99%

Passive Fault-Tolerant Control of a 2-DOF Robotic Helicopter

et al. 2021

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“…It is important to mention that the control law τ = [U p , U y ] T used to stabilize the closed loop control system is a PD type controller that was tuned using the method presented in ref. [31]. Table 1 shows the description of the parameters used in the previous equations.…”

Section: Hamiltonian Representationmentioning

confidence: 99%

Fault Diagnosis for a Class of Robotic Systems with Application to 2-DOF Helicopter

et al. 2020

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This paper considers a general approach to fault diagnosis using a generalized Hamiltonian system representation. It can be considered that, in general, nonlinear systems still represent a problem in fault diagnosis because there are results only for a specific class of them. Therefore, fault diagnosis remains a challenging research area despite the maturity of some of the available results. In this work, a type of nonlinear system that admits a generalized Hamiltonian representation is considered; in practice, there are many systems that have this kind of representation. Thereupon, an approach for fault detection and isolation based on the Hamiltonian representation is proposed. First, following the classic approach, the original system is decoupled in different subsystems so that each subsystem is sensitive to one particular fault. Then, taking advantage of the structure, a simple way to design the residuals is presented. Finally, the proposed scheme is validated at the two-degree of freedom (DOF) helicopter of Quanser®, where the presence of faults in sensors and actuators were considered. The results show the efficacy of the proposed scheme.

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“…with P = X −1 , K = −YP and = −2 , which is obtained by pre-and post-multiplying by X and considering the Schur complements [31].…”

Section: Proof Consider the Candidate Lyapunov Functionmentioning

confidence: 99%

“…Remark Parameters of controller can be computed to fulfil

([], \begin{matrix} center left left \\ array A X + X A^{T} + B Y + Y^{T} B^{T} + I & array X & array 0 \\ array X & array - ρ I & array 0 \\ array 0 & array 0 & array - X \end{matrix}) ≺ 0

with P = X −1 , K =− YP and ρ = γ −2 , which is obtained by pre‐ and post‐multiplying by X and considering the Schur complements [31]. …”

Section: Control Designmentioning

confidence: 99%

Robust Mittag‐Leffler stabilisation of fractional‐order systems

Muñoz‐Vázquez

Parra-Vega

Sánchez‐Orta

et al. 2019

Asian Journal of Control

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Dynamic models approximate physical phenomena to certain extent and ideal controllers are proposed. Nevertheless, when system specifications crave for better performance, additional robust controllers are considered. In this sense, a robust controller is proposed in this paper, which accounts for a general class of fractional-order systems, in order to compensate for matched and mismatched disturbances. The Mittag-Leffler stability of the solution of the closed-loop system is demonstrated for a class of fractional-order systems subject to non-smooth effects and control feedback. Numerical simulations are conducted to highlight the reliability of the proposed scheme.

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New Method for Tuning Robust Controllers Applied to Robot Manipulators

Cited by 6 publications

References 28 publications

Passive Fault-Tolerant Control of a 2-DOF Robotic Helicopter

Passive Fault-Tolerant Control of a 2-DOF Robotic Helicopter

Fault Diagnosis for a Class of Robotic Systems with Application to 2-DOF Helicopter

Robust Mittag‐Leffler stabilisation of fractional‐order systems

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