Research on Angle and Stiffness Cooperative Tracking Control of VSJ of Space Manipulator Based on LESO and NSFAR Control

Ye, Xin; Hong, Jin; Dong, Zhenghong

doi:10.3390/electronics8080893

Cited by 3 publications

(3 citation statements)

References 31 publications

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“…LESO is as an effective approach to estimate matched disturbance, which has been validated in various implementations [7], [30]- [32]. in this paper, we construct a leso in controller to estimate the lumped disturbances and immeasurable velocity states for MEMS gyroscope.…”

Section: B Lesomentioning

confidence: 99%

Event-Triggered Output Feedback Control for MEMS Gyroscope With Prescribed Performance

2020

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This paper investigates an event-triggered output feedback control problem with guaranteed tracking performance for microelectromechanical system (MEMS) gyroscope subject to the lumped disturbances, including parameter uncertainties, coupling between driving mode and sensing mode, and unknown external disturbances. Firstly, to make the system output tracking errors evolve within the predetermined performance envelopes, a prescribed performance control (PPC) is employed in our controller design, such that a prescribed trajectory tracking with preselected settling time and steady-state tracking accuracy can be ensured. Besides, to simultaneously realize disturbance rejection and estimation of the immeasurable velocity state, linear extended state observers (LESOs) are designed to reconstruct the lumped disturbances and immeasurable velocity states for both MEMS gyroscope driving and sensing modes. In general, excessively energy and resource consumption are fundamentally neglected in most of the existing output feedback controllers for MEMS gyroscope, which will dramatically reduce the operational time of the close-loop system. To address this problem, we embed a fixed threshold event-triggered mechanism into the controller design procedure, such that the communication data size can be drastically reduced without sacrificing the tracking accuracy. Finally, to obtain the close-loop stability for MEMS gyroscope, robust control laws are designed to compensate for the measurement error and estimation error, meanwhile Zeno phenomena can be effectively eliminated. The simulation results and comparisons validate the effectiveness of the proposed scheme. INDEX TERMS Output feedback, event-triggered control, prescribed performance, MEMS gyroscope.

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Section: B Lesomentioning

confidence: 99%

Event-Triggered Output Feedback Control for MEMS Gyroscope With Prescribed Performance

2020

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“…The main feature of the variable stiffness joint is that there are elastic elements with adjustable stiffness between the input and output of the actuator, which can convert the kinetic energy and elastic potential energy of the joint. Since the variable stiffness joint has great potential value for the future development of service robots, its mechanical design, dynamic performance, and real-time control of stiffness become the focus of research [4,5].…”

Section: Introductionmentioning

confidence: 99%

Design, Dynamics Analysis, and Real-Time Stiffness Control of a Variable Stiffness Joint

Wei

et al. 2020

Electronics

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This paper proposes a variable stiffness joint based on a symmetrical crank slider mechanism (SCM-VSJ). Firstly, the mechanical design and the working principle of the variable stiffness joint is described, and its stiffness regulation characteristics are studied. Secondly, the dynamical model of variable stiffness joint including joint motor, harmonic reducer and stiffness adjustment motor is established, in addition, the transmission mechanism of the crank slider mechanism and the elastic deformation of the spring bar are considered in the dynamic modeling. Finally, in order to control the dynamic stiffness of the variable stiffness joint in real time, a kind of improved PID (proportional-integral-derivative) control algorithm based on feed-forward and feedback closed-loop is proposed on the basis of the existing dynamical model, and the simulation analysis of real-time tracking control of dynamic stiffness for sinusoidal wave expected stiffness signal and random expected stiffness signal is carried out respectively. The research shows that the real-time stiffness control of SCM-VSJ can be realized effectively, and during the stiffness adjustment process, the output torque of the stiffness adjustment motor will be affected by the elastic deformation of the spring bar.

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“…Linear extended state observer (LESO) is well-known as a simple structure observer that can estimate not only disturbances but also unmeasured states, making it easier to implement in engineering. Thanks to its model-free feature, LSEO is applied in many systems such as quadrotor [31], mobile robot [32], underwater vehicle [33] and robotics manipulator [34]. The adoption of LESO will, however, inevitably lead to estimation errors, which could result in a reduction in control performance.…”

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confidence: 99%

Observer-Based Control for a Cable-Driven Aerial Manipulator under Lumped Disturbances

Ding¹,

Yao²,

Ma³

2023

Computer Modeling in Engineering &Amp; Sciences

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With the increasing demand for interactive aerial operations, the application of aerial manipulators is becoming more promising. However, there are a few critical problems on how to improve the energetic efficiency and pose control of the aerial manipulator for practical application. In this paper, a novel cable-driven aerial manipulator used for remote water sampling is proposed and then its rigid-flexible coupling dynamics model is constructed which takes joint flexibility into account. To achieve high precision joint position tracking under lumped disturbances, a newly controller, which consists of three parts: linear extended state observer, adaptive super-twisting strategy, and fractional-order nonsingular terminal sliding mode control, is proposed. The linear extended state observer is adopted to approximate unmeasured states and unknown lumped disturbances and achieve model-free control structure. The adaptive super-twisting strategy and fractional-order nonsingular terminal sliding mode control are combined together to achieve good control performance and counteract chattering problem. The Lyapunov method is utilized to prove the overall stability and convergence of the system. Lastly, various visualization simulations and ground experiments are conducted, verifying the effectiveness of our strategy, and all outcomes demonstrate its superiorities over the existing control strategies. KEYWORDSAerial manipulator; cable-driven; adaptive super-twisting; linear extend state observer; fractional-order nonsingular terminal sliding mode Nomenclature M Inertia matrix C Coriolis and centrifugal matrix G Gravitational force vector J Inertia matrix of motors D Damping matrix of motors K s Joint stiffness matrix K d Joint damping matrix q Angular position vector of links θ Angular position vector of motors

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Research on Angle and Stiffness Cooperative Tracking Control of VSJ of Space Manipulator Based on LESO and NSFAR Control

Cited by 3 publications

References 31 publications

Event-Triggered Output Feedback Control for MEMS Gyroscope With Prescribed Performance

Event-Triggered Output Feedback Control for MEMS Gyroscope With Prescribed Performance

Design, Dynamics Analysis, and Real-Time Stiffness Control of a Variable Stiffness Joint

Observer-Based Control for a Cable-Driven Aerial Manipulator under Lumped Disturbances

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