Position domain nonlinear PD control for contour tracking of robotic manipulator

Ouyang, P. R.; Pano, V.; Tang, Jiacheng; W, Yue

doi:10.1016/j.rcim.2017.11.017

Cited by 32 publications

(7 citation statements)

References 14 publications

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“…But, in an actual mechanical motion control system, friction is unavoidable. Control law (9) is introduced into the linear motor model (1)…”

Section: Design Of Neural Network Controller Based On Lugrementioning

confidence: 99%

“…To verify the effectiveness of the contour error coupling control method proposed, herein, we conduct a contour motion control simulation study on the two-axis linear servo motor system with LuGre friction expressed by formula (1). Due to different load changes and environmental conditions, the two axes' model parameters do not match exactly, which causes contour error.…”

Section: Simulation Analysismentioning

confidence: 99%

“…Contour accuracy is an important factor that determines the surface quality of a workpiece and a necessary condition to guarantee high-precision machining [1,2]. To improve contour accuracy, we must design a high-performance contour controller.…”

Section: Introductionmentioning

confidence: 99%

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Design of Contour Error Coupling Controller Based on Neural Network Friction Compensation

Wang

Guang

Cui

2019

Mathematical Problems in Engineering

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In two-axis servo contour motion control, friction and various uncertainties unavoidably exist, reducing the contour control accuracy. This paper proposes a neural network contour error coupling control method based on LuGre friction compensation, which includes a contour error calculation model, single-axis computed torque controller (CTC), and neural network friction compensation controller. The LuGre friction model can describe servo system’s complicated static and dynamic friction characteristics, and the RBF neural network has a universal approximation property to realize compensation control of friction. Simulation results indicate that the proposed contour error control method can effectively compensate for the effect of friction and improve contour control accuracy.

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“…But, in an actual mechanical motion control system, friction is unavoidable. Control law (9) is introduced into the linear motor model (1)…”

Section: Design Of Neural Network Controller Based On Lugrementioning

confidence: 99%

Section: Simulation Analysismentioning

confidence: 99%

See 1 more Smart Citation

Design of Contour Error Coupling Controller Based on Neural Network Friction Compensation

Wang

Guang

Cui

2019

Mathematical Problems in Engineering

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“…For example, Zhang et al [28] investigated switched fuzzy-PD control of contact forces in robotic microbio manipulation. In addition, position domain nonlinear PD control for contour tracking of robotic manipulators was proposed in [29]. Furthermore, complex networks under PD controllers have been widely investigated in recent years.…”

Section: Introductionmentioning

confidence: 99%

Improving dynamics of integer-order small-world network models under fractional-order PD control

Wang

Xiao

Tao

et al. 2019

Sci. China Inf. Sci.

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The optimal control of dynamics is a popular topic for small-world networks. In this paper, we address the problem of improving the behavior of Hopf bifurcations in an integer-order model of small-world networks. In this study, the time delay is used as the bifurcation parameter. We add a fractional-order proportional-derivative (PD) scheme to an integer-order Newman-Watts (N-W) small-world model to better control the Hopf bifurcation of the model. The most important contribution of this paper involves obtaining the stability of the system and the variation of the conditions of the Hopf bifurcation after a fractional PD controller is added to the integer-order small-world model. The results demonstrate that the designed PD controller can be used to restrain or promote the occurrence of Hopf bifurcations by setting appropriate parameters. We also describe several simulations to verify our research results.

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“…The associate editor coordinating the review of this manuscript and approving it for publication was Okyay Kaynak . and controller design have been investigated by researchers and engineers in fields including microelectromechanical systems [10], robotics [11], and space systems [12]. In terms of stiffness enhancement for contouring applications, the dual-drives gantry machine is introduced to improve the rigidity of systems by adding another motor on the parallel slides [13].…”

mentioning

confidence: 99%

Modeling and Contouring Control for Cantilever Beam Machine With Structural Flexibility

Yuan

2022

IEEE Access

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In biaxial contouring control applications, the inherent structural flexibility of machines can lead to position discrepancies between the manipulator and actuator, and thus deteriorate the manufacturing performance, especially when the controller is designed without available end-effector side feedback. In this work, we focus on the end-effector contouring control problem for industrial machines with position-dependent flexibility to improve the contouring performance while eliminating the effect of mechanical vibration. A model for the widely used cantilever beam machine is developed to describe the dynamics of the end-effector by capturing the rotation and coupled dynamics between axes. The proposed model is validated through experiment and systematically reduced to switched linear time-invariant models for controller design. By adopting the extended state observer, the proposed control architecture decouples the dynamics between the X and Y-axis and simplifies the controller design process. The model predictive control method is utilised for improving the contouring performance while reducing mechanical vibration. The efficacy of the proposed control framework is demonstrated and validated on the designed high-fidelity model. Performance comparisons between the proposed approach with benchmark controllers are presented.INDEX TERMS Manufacturing, contouring control, motion control, vibration and noise control.

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Position domain nonlinear PD control for contour tracking of robotic manipulator

Cited by 32 publications

References 14 publications

Design of Contour Error Coupling Controller Based on Neural Network Friction Compensation

Design of Contour Error Coupling Controller Based on Neural Network Friction Compensation

Improving dynamics of integer-order small-world network models under fractional-order PD control

Modeling and Contouring Control for Cantilever Beam Machine With Structural Flexibility

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