Tracking control of elastic joint parallel robots via state-dependent Riccati equation

Kilicaslan, Sinan

doi:10.3906/elk-1301-170

Cited by 9 publications

(2 citation statements)

References 34 publications

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“…Therefore, owing to its linearizing and decoupling feedback loop, inverse dynamics control is widely used for this aim; and it is also extended to handle the control of parallel manipulators with their joint flexibilities also being taken into account, some examples of which were cited in Ref. [19]. However, this conventional technique suffers from being ill-conditioned around drive singular configurations, and hence the actuators will unavoidably saturate in their neighborhood.…”

Section: Discussionmentioning

confidence: 99%

A switching inverse dynamics controller for parallel manipulators around drive singular configurations

Özdemir¹,

İder²

2016

Turk J Elec Eng & Comp Sci

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Despite many advantages, parallel manipulators are known to possess drive singularities where the control of one or more degrees of freedom is lost. Around these singular configurations, the required actuator forces grow unbounded. Previous efforts in the literature put forward singularity-consistent trajectory planning and singularityrobust modification of the dynamic equations as a solution to this problem. However, this previous method is applicable only for the open-loop operation of the manipulator, whereas initial configuration errors, external disturbances, and modeling errors should necessarily be taken into account in a closed-loop sense in real-life applications. With this aim, a switching inverse dynamics controller is proposed in this study for the trajectory tracking control of parallel manipulators as they pass through drive singular configurations. Simulations of the application of the developed controller result in good tracking performance, even in the presence of modeling errors, while the actuator efforts remain bounded and continuous in the neighborhood of the singularity.

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Section: Discussionmentioning

confidence: 99%

A switching inverse dynamics controller for parallel manipulators around drive singular configurations

Özdemir¹,

İder²

2016

Turk J Elec Eng & Comp Sci

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show abstract

“…Prach and Tekinalp [14] simulated the SDRE tracking problem for an unmanned aircraft. Kılıçaslan [15] applied the SDRE tracking controller for parallel robots with flexible joints. In the present work, the tracking problem will be investigated for timevarying systems with state and control nonlinearities.…”

Section: Introductionmentioning

confidence: 99%

State-dependent differential Riccati equation to track control of time-varying systems with state and control nonlinearities

Korayem

Nekoo

2015

ISA Transactions

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Constrained Optimal Control of Cable-Driven Parallel Robots Based on SDRE

Marufkhani

Khosravi

2021

Mechanisms and Machine Science

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Tracking control of elastic joint parallel robots via state-dependent Riccati equation

Cited by 9 publications

References 34 publications

A switching inverse dynamics controller for parallel manipulators around drive singular configurations

A switching inverse dynamics controller for parallel manipulators around drive singular configurations

State-dependent differential Riccati equation to track control of time-varying systems with state and control nonlinearities

Constrained Optimal Control of Cable-Driven Parallel Robots Based on SDRE

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