Two-dimensional delayed resonator for entire vibration absorption

Šika, Z.; Vyhlídal, Tomáš; Neusser, Zdeněk

doi:10.1016/j.jsv.2021.116010

Cited by 27 publications

(4 citation statements)

References 39 publications

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“…Future perspectives of the present work include (a) the investigation of the problem with delay-dependent controllers (indicatively see [50]), (b) the application of the proposed approach to robotic vehicles carrying manipulators that grasp known and unknown loads (indicatively see [51]), (c) the application of the proposed approach robotic vehicles moving in semi-structured and unstructured environments (indicatively see [52][53][54]), and (d) the application of the proposed approach to multi-transmission delay cases (indicatively see [55][56][57]). The experimental validation of the theoretical and simulation results is currently underway.…”

Section: Discussionmentioning

confidence: 99%

A Two Stage Nonlinear I/O Decoupling and Partially Wireless Controller for Differential Drive Mobile Robots

Kouvakas,

Koumboulis,

Sigalas

2024

Robotics

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Differential drive mobile robots, being widely used in several industrial and domestic applications, are increasingly demanding when concerning precision and satisfactory maneuverability. In the present paper, the problem of independently controlling the velocity and orientation angle of a differential drive mobile robot is investigated by developing an appropriate two stage nonlinear controller embedded on board and also by using the measurements of the speed and accelerator of the two wheels, as well as taking remote measurements of the orientation angle and its rate. The model of the system is presented in a nonlinear state space form that includes unknown additive terms arising from external disturbances and actuator faults. Based on the nonlinear model of the system, the respective I/O relation is derived, and a two-stage nonlinear measurable output feedback controller, analyzed into an internal and an external controller, is designed. The internal controller aims to produce a decoupled inner closed-loop system of linear form, regulating the linear velocity and angular velocity of the mobile robot independently. The internal controller is of the nonlinear PD type and uses real time measurements of the angular velocities of the active wheels of the vehicle, as well as the respective accelerations. The external controller aims toward the regulation of the orientation angle of the vehicle. It is of a linear, delayed PD feedback form, offering feedback from the remote measurements of the orientation angle and angular velocity of the vehicle, which are transmitted to the controller through a wireless network. Analytic formulae are derived for the parameters of the external controller to ensure the stability of the closed-loop system, even in the presence of the wireless transmission delays, as well as asymptotic command following for the orientation angle. To compensate for measurement noise, external disturbances, and actuator faults, a metaheuristic algorithm is proposed to evaluate the remaining free controller parameters. The performance of the proposed control scheme is evaluated through a series of computational experiments, demonstrating satisfactory behavior.

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Section: Discussionmentioning

confidence: 99%

A Two Stage Nonlinear I/O Decoupling and Partially Wireless Controller for Differential Drive Mobile Robots

Kouvakas,

Koumboulis,

Sigalas

2024

Robotics

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“…System (33) and resonator feedback (34) can be recast into a Delay Differential Algebraic Equations (DDAE) description of the form…”

Section: Stabilizing the Overall Set-upmentioning

confidence: 99%

“…An interesting study on generalizing the DR towards fractional derivative feedback was recently presented in [29]. Let us also mention the approach of [30] combining position and velocity feedback, the work reported in [31] targeting multiple-frequencies by multi-parameter delayed position feedback and [32], [33] extending the DR concept to twodimensional vibration absorption using delayed position feedback at the three actuators of the 2D absorber. Motivated by DR applications, in [34], stability analysis of systems with delayed position and velocity was performed.…”

Section: Introductionmentioning

confidence: 99%

Robust delayed resonator with acceleration feedback — design by double root assignment and experimental validation

Kuře,

Bušek,

Boussaada

et al. 2024

Journal of Sound and Vibration

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“…In the paper [22], the pole search method is used in conjunction with least squares projection technique for identifying virtual machine tool drives, and it gives servo errors from the desired position with high accuracy. The system residual vibrations could be suppressed by active vibration absorber (delay resonator is presented in [23]) applied to the 2D robotic arm [24,25].…”

Section: Introductionmentioning

confidence: 99%

Drive axis controller optimization of production machines based on dynamic models

Halamka

Moravec

Beneš

et al. 2021

Int J Adv Manuf Technol

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The paper deals with the creation and implementation of a methodology for optimizing the parameters of cascade control of the machine tool axis drives. The first part presents the identification of a dynamic model of the axis based on experimental data from measuring the axis dynamics. The second part describes the controller model, selection of optimization objective functions, and optimization of constraint conditions. The optimization of controllers is tuned by simulation using identified state-space model. Subsequently, the optimization procedure is implemented on the identified model, and the found control parameters are used on a real machine tool linear axis with different loads. The implementation of the proposed complex procedure on a real horizontal machine tool proved the advantage of simultaneous tuning of all parameters using optimization methods. The strategy solves the problem of mutual interaction of all control law parameters disabling effective usability of gradual sequential tuning. The methodology was developed on a speed control loop, the tuning of which is usually the most difficult due to the close interaction with the dynamic properties of the machine mechanics. The whole procedure is also applicable to the position and current control loop.

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Two-dimensional delayed resonator for entire vibration absorption

Cited by 27 publications

References 39 publications

A Two Stage Nonlinear I/O Decoupling and Partially Wireless Controller for Differential Drive Mobile Robots

A Two Stage Nonlinear I/O Decoupling and Partially Wireless Controller for Differential Drive Mobile Robots

Robust delayed resonator with acceleration feedback — design by double root assignment and experimental validation

Drive axis controller optimization of production machines based on dynamic models

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