Unified neural output-constrained control for space manipulator using tan-type barrier Lyapunov function

Jahanshahi, Hadi; Yao, Qijia; Khan, M. Ijaz; Moroz, Irene M.

doi:10.1016/j.asr.2022.11.015

Cited by 68 publications

(14 citation statements)

References 42 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Consider for example, see refs. [31,32], where such a torquebased control with the PIDs is designed mostly using the AI-based tuning methods and the Lyapunov direct stabilitybased tuning. Other AI-based tuning techniques are based on fuzzy logic [33], neural networks [34], and evolutionary search algorithms as in [35,36].…”

Section: Analysis Of An Actuator For the Control System Design For A ...mentioning

confidence: 99%

Autotuning of PID controller using the modified relay feedback test and optimization under uncertainty principle for robotic manipulators

Rehan,

Boiko,

Zweiri

2023

IET Control Theory & Appl

View full text Add to dashboard Cite

The development of an autotuning mechanism for robotic manipulators, inspired by the success of autotuners in industrial systems, aims to reduce the time and cost of tuning robotic manipulators. This paper introduces an auto‐tuning method for PID controllers in robotic manipulators using the Modified Relay Feedback Test (MRFT) and the Optimization Under Uncertainty (OUU) principle. The mechanism is versatile, suitable for manipulators of varying scales and motor power capacities. It incorporates actuator dynamics and a combined model of Brushless DC motors with an n‐link manipulator for TR development. Various manipulator models, including commercial and open‐source types were used to refine and test the TR. An algorithm is also proposed for tuning commercial manipulators' controllers without changing the existing closed‐loop system structure. Experimental and simulation tests demonstrate the method's effectiveness, showing better performance than traditional approaches, particularly in reducing overshoot and settling time.

show abstract

Section: Analysis Of An Actuator For the Control System Design For A ...mentioning

confidence: 99%

Autotuning of PID controller using the modified relay feedback test and optimization under uncertainty principle for robotic manipulators

Rehan,

Boiko,

Zweiri

2023

IET Control Theory & Appl

View full text Add to dashboard Cite

show abstract

“…Some other important and valuable research on different methodologies and material analysis is listed in Refs. [ 52 , 53 , 54 , 55 , 56 , 57 , 58 , 59 , 60 , 61 , 62 , 63 , 64 ].…”

Section: Introductionmentioning

confidence: 99%

Simulation of Prandtl Nanofluid in the Mixed Convective Flow of Activation Energy with Gyrotactic Microorganisms: Numerical Outlook Features of Micro-Machines

et al. 2023

View full text Add to dashboard Cite

The physiological systems and biological applications that have arisen during the past 15 years depend heavily on the microscale and nanoscale fluxes. Microchannels have been utilized to develop new diagnostic assays, examine cell adhesion and molecular transport, and replicate the fluid flow microenvironment of the circulatory system. The various uses of MHD boundary flow in engineering and technology are extensive, ranging from MHD power generators and the polymer industry to MHD flow meters and pumps and the spinning of filaments. In this investigation, the (Magnetohydrodynamic) MHD flow of Prandtl nanofluid is investigated along with mixed convection, energy activation, microorganism, and chemical reaction. The flow model is considered through partial differential equations in dimensionless form which is then integrated numerically via considering the Bvp4c technique. The outcome is numerous emerging physical parameters over velocity profile, temperature, mass concentration, and microorganism with the separate pertinent quantities such as the Prandtl fluid parameter, elastic fluid parameter, magnetic field, mixed convection parameter, activation energy, chemical reaction, Brownian motion, thermophoretic force, Prandtl number, and Schmidt number. The friction factor, rate of heat transfer and Sherwood number, and density of microbes are revealed numerically and graphically. The outcomes indicate that the Prandtl fluid parameter and elastic fluid parameter tend to enhance the velocity profile. It is also noted that the Prandtl fluid parameter depreciates the thermal rate with the addition of the concentration profile while the opposite trend is recorded for activation energy. Obtained numerical outcomes are correspondingly compared with the current statistics in limiting cases and a close match is obtained.

show abstract

“…The problem of dynamic coupling and singularity, which result in a significant deviation between the desired and actual trajectory, was addressed by Shrivastava and Dalla. 26 A plan for trajectory control of a free-flying space robot employing a robust overpowering controller was put out by Jahanshahi et al 27 Chang et al 28 developed a dynamic model of a free-flying space manipulator with binocular stereo vision feedback to overcome non-holonomic constraints. Using several images, this feedback approach creates 3D geometric information on the object.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Optimum joint and trajectory tracking control of multi-axes space manipulator based on amnesia feedback controller

Shrivastava

Dalla

Abhishek

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

The space manipulators operate in an unstructured or unknown environment, increasing the dynamic complexity of space manipulator. Due to disturbance in manipulator base, the trajectory tracking control issue arises that cause error between reference and actual trajectory. Hence, to sort out these issues, this work presents optimum joint and trajectory tracking control of multi-axes space manipulator based on amnesia feedback controller. Firstly, the dynamic model of a 7DOF space manipulator built on Euler-Lagrange theorem, using the Jacobian matrix of individual link is designed. Later on, the Amnesia controller strategy is implemented that keeps a record of the trajectory tracking error and sends them to the robot tip. Compared to PID control scheme, the rising time, settling time, and overshoot is reduced even further when amnesia controller is used. The trajectory deviation using PID controller is 15°, while it is 3° using Amnesia controller, as expected. Hence, Amnesia controller reduces the trajectory tracking error between reference and actual trajectory of the redundant robot. The effectiveness of the proposed methodology employing a redundant 7DOF space robot has been verified. This proposed scheme can be utilized for on-orbit servicing and space debris removal through space craft.

show abstract

Unified neural output-constrained control for space manipulator using tan-type barrier Lyapunov function

Cited by 68 publications

References 42 publications

Autotuning of PID controller using the modified relay feedback test and optimization under uncertainty principle for robotic manipulators

Autotuning of PID controller using the modified relay feedback test and optimization under uncertainty principle for robotic manipulators

Simulation of Prandtl Nanofluid in the Mixed Convective Flow of Activation Energy with Gyrotactic Microorganisms: Numerical Outlook Features of Micro-Machines

Optimum joint and trajectory tracking control of multi-axes space manipulator based on amnesia feedback controller

Contact Info

Product

Resources

About