Robust Tracking Controller Design With Uncertain Friction Compensation Based on a Local Modeling Approach

In this paper, a testing machine for a fine suture thread is developed, and a relation between tension and elongation of the thread with a knot is measured. A fine suture thread is used in microsurgery, and that makes the operation difficult because the thread is fragile. Therefore, an evaluation of the thread is required by surgeons. Conventionally, the thread is evaluated by weight, so that elongation of the thread cannot be measured. This paper develops a testing machine for the fine suture thread using a reaction force observer (RFOB) which calculates force from input of a motor and information of a position sensor, and it enables the machine to measure tension and elongation of the thread at the same time. The testing machine also use tension control which enables the machine to pull the thread from both sides. An experiment was conducted by using the machine. Results showed the tensile strength of a knotted thread was weaker than an unknotted thread and the elongation at rupture of a knotted thread was shorter than that of an unknotted thread. Moreover, the tensile strength and the elongation at rupture did not depend on the number of throws. The machine was verified that it can detect the difference among them,

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“…Compensation methods for disturbance torque have been researched in [10], [11]. In this paper, F int , F g , and DsQ are negligibly-small.…”

Section: A Control Structurementioning

confidence: 99%

Development of a thread testing machine and evaluation of a suture thread with a knot

Oda

Sakai

Ohnishi

et al. 2016

2016 IEEE International Conference on Industrial Technology (ICIT)

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“…Define the control error e = q − q d and the filtered tracking error r =ė + K D e. Then, differentiating r(t) and substituting it into (14), and designing a stabilizing control α for the current control input x 3 …”

Section: B Controller Designmentioning

confidence: 99%

“…This assumption is sometimes impracticable because of imprecisely known fuel consumption and unknown payloads, such as when capturing a satellite. Moreover, developing a faithful model for physical nonlinearities is still a challenging task that is strongly related to the identification effort required by the structure of the model [3]. For dealing with internal parameter uncertainty and external disturbance, adaptive control methods have to be used, which take inertia and forces into account.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Adaptive Disturbance-Observer-Based Robust Tracking Control of Electrically Driven Free-Floating Space Manipulator

Chu

Cui

Sun

2014

IEEE Systems Journal

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This paper is concerned with the robust tracking control of an electrically driven free-floating space manipulator with internal parameter uncertainty and external disturbance. An adaptive disturbance-observer-based output feedback control is employed to provide a solution to the control problem, wherein the parameters are tuned online by using fuzzy logic systems to compensate for equivalent disturbance, and the stability condition of the closed-loop system is also derived. The suggested method does not require exact prior knowledge of the system and needs a few parameters to tune. The simulation results of a two-link electrically driven space manipulator show the effectiveness and applicability of the proposed control scheme.

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“…A new method of modelling of friction has been presented in [19]. Nonlinear friction force is approximated by a linear relationship in each interval speed.…”

Section: Friction Identification and Compensationmentioning

confidence: 99%

New approaches to selected problems of precise speed and position control of drives

Brock

Zawirski

2012

IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society

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The paper reviews the literature in the field of electric drives control, published in the years 2010 -2012. Attention is focused on three selected themes: torque and force ripple elimination for converter controlled drives, friction identification and compensation, damping of torsional vibrations. These problems are critically important, especially for servo drives used in robots and machine tools.

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Robust Tracking Controller Design With Uncertain Friction Compensation Based on a Local Modeling Approach

Abstract: Robust tracking controller design with uncertain friction compensation based on a local modeling approach

Cited by 36 publications

References 26 publications

Development of a thread testing machine and evaluation of a suture thread with a knot

Development of a thread testing machine and evaluation of a suture thread with a knot

Fuzzy Adaptive Disturbance-Observer-Based Robust Tracking Control of Electrically Driven Free-Floating Space Manipulator

New approaches to selected problems of precise speed and position control of drives

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