On Tracking Control of Rigid-Joint Robots With Only Position Measurements

Dirksz, Daniel A.; Scherpen, Jacquelien M. A.

doi:10.1109/tcst.2012.2204886

Cited by 18 publications

(30 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Furthermore, based on the lead-compensator structure we provide a frequency approach to tune the control parameters. In a similar way as in [5], we also show that we can improve the transient response of the system by also tuning the initial conditions of the controller states. The application of linear controllers for nonlinear systems is usually not trivial, while nonlinear control methods often lack control tuning guidelines.…”

Section: Introductionsupporting

confidence: 57%

See 1 more Smart Citation

Tuning of dynamic feedback control for nonlinear mechanical systems

Dirksz

Scherpen

2013

2013 European Control Conference (ECC)

Self Cite

View full text Add to dashboard Cite

Mechanical systems are often only equipped with position measurement encoders and obtain the velocity signal by differentiation. However, differentiation largely amplifies noise. In this paper we look at dynamic feedback control of Euler-Lagrange mechanical systems. Dynamic feedback is often used to avoid velocity measurements in the control feedback. In the Euler-Lagrange literature it is shown that the dynamic extension realizes an approximate differentiator, justifying its application. We show in this paper that the dynamic extension used in the Euler-Lagrange literature actually realizes a leadcompensator, proving that a lead-compensator can also globally asymptotically stabilize a nonlinear mechanical systems. Furthermore, based on the lead-compensator structure it is then possible to offer a frequency approach to tune the controller gains.

show abstract

Section: Introductionsupporting

confidence: 57%

“…In [5] it is shown that the initial conditions of the controller q c (0) can be tuned to improve the transient performance of the system. We show here a similar analysis by determining the square L 2 -norm of q c + Bq m for the control structure (12), (13).…”

Section: Improving Transient Performancementioning

confidence: 99%

Tuning of dynamic feedback control for nonlinear mechanical systems

Dirksz

Scherpen

2013

2013 European Control Conference (ECC)

Self Cite

View full text Add to dashboard Cite

show abstract

“…In this section, we briefly revisit the results reported in [11]- [14], where the reported controllers are suitable to suppress oscillations or reject disturbances. The main idea of these methods is to propose a dynamic extension x c ∈ R m and a dynamic control law of the form…”

Section: A Some Previous Results On Pbc With Dynamic Extensionmentioning

confidence: 99%

“…Following this approach, passivity-based controllers that can be interpreted as lead-compensators are reported in [11], while in [15], a kind of integrator is proposed for removing matched disturbances. Additionally, in [11], [14], [16], the dynamic extension removes the necessity of velocity measurements to inject damping into the closed-loop system and ensure the asymptotic convergence towards the desired equilibrium. Inspired by these results, in the following section, we propose a new PBC methodology where a controllers can be interpreted as a lag-compensators.…”

Section: A Some Previous Results On Pbc With Dynamic Extensionmentioning

confidence: 99%

Passivity-Based Lag-Compensators With Input Saturation for Mechanical Port-Hamiltonian Systems Without Velocity Measurements

Hamada

Borja

Scherpen

et al. 2021

IEEE Control Syst. Lett.

Self Cite

View full text Add to dashboard Cite

In this work, we propose a passivity-based control technique, where the resulting controllers can be interpreted as lag-compensators for nonlinear mechanical systems described in the port-Hamiltonian framework. The proposed methodology considers a dynamic controller such that the relationship between the control input and the error signal of interest can be expressed in terms of a transfer function. Accordingly, the control gains can be tuned through a frequency analysis approach. Additionally, two practical advantages of the resulting controllers are that they do not require velocity measurements, and they can cope with input saturation. We illustrate the applicability of the proposed methodology through the stabilization of a planar manipulator, where the experimental results corroborate the effectiveness of the technique.

show abstract

“…En esta sección se utiliza el controlador propuesto por [15] como controlador lento, y además propone una ley de control rápida con la misma estructura, así como el sistema multi-escala que une los dos subsistemas. Para resolver el problema de control, el autor deriva un modelo de PH utilizando una transformación de coordenadas similar al controlador Reyes-Baez.…”

Section: Controlador Multi-escala Reyes-baezunclassified

Diseño e implementación de un controlador no-lineal para un brazo robótico con articulaciones flexibles y enlaces rígidos

Padilla-Mora

2020

View full text Add to dashboard Cite

Los sistemas robóticos se están volviendo cada vez más complejos y las teorías de la ley de control tradicional pierden robustez, lo que aumenta la dificultad con la que se puede controlar el robot para interactuar con el entorno que lo rodea. El objetivo de este trabajo de investigación es el estudio de sistemas no lineales complejos con la particularidad de tener articulaciones flexibles y enlaces rígidos. Dicha flexibilidad provoca un comportamiento interesante en los sistemas robóticos porque duplica el número de variables involucradas en la tarea de control. Se han llevado a cabo varios estudios en la investigación de robots flexibles, sin embargo, la mayoría de ellos utilizan el marco clásico de Euler-Lagrange para describir los sistemas mecánicos. Este trabajo se ha centrado en la implementación de controladores no lineales dentro del marco portuario-hamiltoniano, y en la teoría de sistemas de perturbación singular a escala múltiple. En este sentido, la descripción matemática de dos leyes de control diferentes propuestas por [1] y [2] se presentan y adaptan a la planta física del brazo robótico Quanser de dos grados de libertad. Además, las ecuaciones de los controladores port-hamiltonianos propuestos se han implementado en una simulación para probar la validez de las leyes de control para la configuración rígida y flexible del robot. Finalmente, los controladores se han implementado en la planta física del brazo robótico para validar experimentalmente la teoría matemática de control propuesta. La implementación experimental de los controladores puerto-hamiltonianos propuestos mostró una mejora en el control del error de posición para la configuración rígida y flexible en comparación con un controlador de referencia propuesto por el fabricante del brazo robótico, con una tasa de error para el valor RMS de la señal inferior al 1,2% del valor RMS de la trayectoria deseada. Otros estudios y pruebas experimentales deben estar dirigidos a la implementación de controladores porto-hamiltonianos para lograr una tasa de error aún más baja.

show abstract

On Tracking Control of Rigid-Joint Robots With Only Position Measurements

Cited by 18 publications

References 13 publications

Tuning of dynamic feedback control for nonlinear mechanical systems

Tuning of dynamic feedback control for nonlinear mechanical systems

Passivity-Based Lag-Compensators With Input Saturation for Mechanical Port-Hamiltonian Systems Without Velocity Measurements

Diseño e implementación de un controlador no-lineal para un brazo robótico con articulaciones flexibles y enlaces rígidos

Contact Info

Product

Resources

About