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Design and parameter identification of model-based control integrating hydraulic cylinders in robotic leg dynamics

control ENGINEERING PRACTICE 2025年 162卷

作者： Zhang, Kun Zong, Huaizhi Zhou, Lei Zhang, Junhui Fang, Lizhou Ai, Jikun Xu, Bing Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou 310027 Peoples R China Xian Flight Automat Control Res Inst Xian 710075 Peoples R China

With the widespread application of model-based controllers in legged robots, the model accuracy is emphasized. In hydraulic robots, joints are typically closed-chain structures formed by the articulation of hydraulic cylinders. However, it is common practice to disregard the cylinder links in the dynamics of various advanced controllers, leading to inaccuracies in the models. To address this problem, this paper proposes a model-based control framework for the hydraulic legged robot, which integrates the cylinder links into the rigid body dynamics. The model establishment and controller design are separately carried out for the stance and swing phases. The model parameters in the controllers are obtained through identification. Firstly, the hydraulic parameters in nonlinear form are identified using a combination of the least squares and particle swarm optimization algorithm. Secondly, to obtain robust parameter estimates for floating base dynamics, we excite the friction of individual cylinders, the stance and swing phases of the leg system respectively. Subsequently, all excitation results are integrated, and physical consistency constraints are added to formulate a convex optimization problem. The proposed framework has been validated through a series of prototype experiments, demonstrating the benefits of employing a more accurate model in position tracking performance.

关键词： model-based control Closed-chain structures Parameter identification Hydraulic robotic leg

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model-based Dynamic control of Two-Degree-of-Freedom Modulation for Dual Active Half-Bridge Converter

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IEEE TRANSACTIONS ON POWER ELECTRONICS 2025年第6期40卷 8367-8379页

作者： Kim, Gun-Su Kang, Su-Bin Kim, Hyeon-Sik Won, Jehyuk Gachon Univ Dept Next Generat Smart Energy Syst Convergence Seongnam 13120 South Korea Gachon Univ Dept Elect Engn Seongnam 13120 South Korea Kangwon Natl Univ Dept Elect & Elect Engn Chunchon 24341 South Korea

This article proposes a model-based dynamic control for dual active half-bridge converters to satisfy both a loss-minimizing operation and a high-dynamic response. First, the loss-minimizing operation is analyzed based on a two-degree-of-freedom (2-DOF) modulation scheme, where control variables consist of a phase shift and a duty ratio. The modulation scheme is optimized to minimize the transformer root-mean-square current or to achieve a zero-voltage-switching condition under varying conditions. Moreover, the output voltage control should be designed to provide fast dynamic performance under source and load variations. Therefore, the voltage controller is unified with the modulation schemes, where a model-based control is adopted to improve the dynamics of 2-DOF modulation. A model-based calculation part reduces the burden of an error compensation part with a load current feedforward. Finally, the effectiveness of the proposed method is verified by the experimental results.

关键词： Modulation Zero voltage switching Voltage control 2-DOF PI control Mathematical models Capacitors Switches Steady-state Phase modulation Dual active half-bridge converter (DAHB minimum root-mean-square (RMS) current model-based control zero-voltage switching (ZVS

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A model-based tracking control scheme for nonlinear industrial processes involving joint unscented Kalman filter

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Journal of control and Decision 2025年第1期12卷 111-122页

作者： Sanjay Bhadra Atanu Panda Parijat Bhowmick Somasundar Kannan Department of Electrical Engineering University of Engineering and Management Kolkata(UEMK)New TownKolkataWest BengalIndia Department of Electrical Engineering Maulana Abul Kalam Azad University of TechnologyHaringhataNadiaWest BengalIndia Department of Electronics and Communication Engineering Institute of Engineering and Management(IEM)KolkataWest BengalIndia Department of Electronics and Electrical Engineering IIT GuwahatiGuwahatiAssamIndia Department of Electrical Engineering Robert Gordon UniversityAberdeenScotlandUK

This paper proposes a model-based reference tracking scheme for stable,MIMO,nonlinear processes.A Joint Unscented Kalman Filtering technique is exploited here to develop a stochastic model of the physical process via simultaneous estimation of the process states and the time-varying/uncertain *** the existing nonlinear model predictive controllers,the proposed scheme does not involve any dynamic optimisation process,which helps to reduce the overall complexity,computation overburden and execution ***,the proposed methodology offers robustness to process model-mismatch and considers the effects of stochastic disturbances.A nonlinear two-tank liquid-level control problem and a nonlinear coupled level-temperature control process are studied to demonstrate the usefulness of the proposed scheme.

关键词： model-based control JUKF nonlinear MPC TITO coupled-tank process level-temperature control

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model-based control of four-leg inverter for UPS applications considering the effect of neutral line inductor

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IET POWER ELECTRONICS 2021年第8期14卷 1468-1479页

作者： Seyedalipour, S. Sajjad Shahparasti, Mahdi Hajizadeh, Amin Savaghebi, Mehdi KN Toosi Univ Technol Fac Elect Engn Tehran Iran Univ Southern Denmark Dept Mech & Elect Engn Elect Engn Sect Odense Denmark Aalborg Univ Dept Energy Technol Esbjerg Denmark

A control approach for three-phase four-leg LC-filtered voltage source inverters (VSIs) is proposed for an uninterruptible power supply (UPS) application. A filter inductor in the fourth (neutral) leg of the VSI is considered to enhance the output voltage quality when feeding different types of loads in such a system. The proposed approach is based on the modelling of UPS VSI system in the dq0 synchronous frame. First, the switching functions of the inverter under study are extracted from the achieved system model. Afterward, the control approach is developed by introducing a virtual time constant, which simultaneously affects the system's damping ratio, and a virtual undamped natural frequency in the switching functions. It offers flexibility for improving the system dynamic and steady-state responses as desired. While the final time constant decreases the transient response time and overshoot, the resulting undamped natural frequency leads to alleviation of steady-state error in the output voltage. The performance of the proposed control approach is evaluated via SIMULINK-based and real-time simulation results.

关键词： switching functions control of electric power systems fourth leg damping model-based control four-leg inverter steady-state responses dq 0 synchronous frame control approach output voltage quality SIMULINK-based system dynamic invertors Current control virtual undamped natural frequency uninterruptible power supply application transient response time four-leg LC-filtered voltage source inverters filter inductor UPS applications electric current control power convertors neutral line inductor Power convertors and power supplies to apparatus virtual time UPS VSI system transient response resulting undamped natural frequency uninterruptible power supplies achieved system model

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model-based control of a thermal regenerator. Part 1. dynamic model

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COMPUTERS & CHEMICAL ENGINEERING 2000年第11期24卷 2519-2531页

作者： Muske, KR Howse, JW Hansen, GA Cagliostro, DJ Villanova Univ Dept Chem Engn Villanova PA 19085 USA Univ Calif Los Alamos Natl Lab Computat Sci Methods Grp Los Alamos NM 87545 USA

This paper describes the dynamic process model and solution technique developed for the hot blast stoves used with the No. 7 blast furnace at the Ispat Inland Steel facility in East Chicago, IN, USA. A detailed, distributed parameter, heat transfer model of this thermal regenerator system is developed and verified using plant data. The model is capable of predicting accurately the temperature and energy content of the stoves during the thermal regenerative cycles. It was developed for a predictive controller that determines the minimum amount of fuel necessary to achieve the energy requirements from the system. (C) 2000 Elsevier Science Ltd. All rights reserved.

关键词： physical dynamic modeling model-based control heat transfer model

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model-based control for Soft Robots With System Uncertainties and Input Saturation

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2024年第7期71卷 7435-7444页

作者： Shao, Xiangyu Pustina, Pietro Stolzle, Maximilian Sun, Guanghui De Luca, Alessandro Wu, Ligang Santina, Cosimo Della Harbin Inst Technol Sch Astronaut Harbin 150001 Peoples R China Delft Univ Technol Dept Cognit Robot NL-2628 CD Delft Netherlands Univ Rome Sapienza Dept Comp Control & Management Engn I-00185 Rome Italy German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Munich Germany Tech Univ Munich Dept Informat D-80333 Munich Germany

model-based strategies are a promising solution to the grand challenge of equipping continuum soft robots with motor intelligence. However, finite-dimensional models of these systems are inherently inaccurate, thus posing pressing robustness concerns. Moreover, the actuation space of soft robots is usually limited. This article aims at solving both these challenges by proposing a robust model-based strategy for the shape control of soft robots with system uncertainty and input saturation. The proposed architecture is composed of two key components. First, we propose an observer that estimates deviations between the theoretical model and the soft robot, ensuring that the estimation error converges to zero within finite time. Second, we introduce a sliding mode controller to regulate the soft robot shape while fulfilling saturation constraints. This controller uses the observer's output to compensate for the deviations between the real system and the established model. We prove the convergence of the closed-loop with theoretical analysis and the method's effectiveness with simulations and experiments.

关键词： Disturbance observer input saturation model-based control sliding mode control soft robots

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model-based control of a 3-DOF Parallel Robot based on Identified Relevant Parameters

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2013年第6期18卷 1737-1744页

作者： Diaz-Rodriguez, Miguel Valera, Angel Mata, Vicente Valles, Marina Univ Los Andes Fac Ingn Dept Tecnol & Diseno Merida 5101 Venezuela Univ Politecn Valencia Dept Ingn Sistemas & Automat Valencia 46022 Spain Univ Politecn Valencia Ctr Invest Tecnol Vehiculos Valencia 46033 Spain

This paper presents in detail how to model, identify, and control a 3-DOF prismatics-revolute-spherical parallel manipulator in terms of relevant parameters. A reduced model based on a set of relevant parameters is obtained following a novel approach that considers a simplified dynamic model with a physically feasible set of parameters. The proposed control system is compared with the response of a model-based control that considers the complete identification of the rigid-body dynamic parameters, friction at joints, and the inertia of the actuators. The control systems are implemented on a virtual and an actual prototype. The results show that the control scheme based on the reduced model improves the trajectory tracking precision when comparing with the control scheme based on the complete set of dynamic parameters. Moreover, the reduced model shows a significant reduction in the computational burden, allowing real-time control.

关键词： Dynamic parameter identification model-based control parallel robots robot control

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model-based control for Mode Transition Between Spark Ignition and HCCI Combustion

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 2017年第4期139卷 041004页

作者： Zhang, Shupeng Song, Ruitao Zhu, Guoming G. Schock, Harold Michigan State Univ Dept Mech Engn E Lansing MI 48824 USA Michigan State Univ Dept Elect & Comp Engn E Lansing MI 48824 USA

While the homogeneous charge compression ignition (HCCI) combustion has its advantages of high thermal efficiency with low emissions, its operational range is limited in both engine speed and load. To utilize the advantage of the HCCI combustion, an HCCI capable spark ignition (SI) engine is required. One of the key challenges of developing such an engine is to achieve smooth mode transition between SI and HCCI combustion, where the in-cylinder thermal and charge mixture properties are quite different due to the distinct combustion characteristics. In this paper, a control strategy for smooth mode transition between SI and HCCI combustion is developed and experimentally validated for an HCCI capable SI engine equipped with electrical variable valve timing (EVVT) systems, dual-lift valves, and electronic throttle control (ETC) system. During the mode transition, the intake manifold air pressure is controlled by tracking the desired throttle position updated cycle-by-cycle;and an iterative learning fuel mass controller, combined with sensitivity-based compensation, is used to manage the engine torque in terms of net mean effective pressure (NMEP) at the desired level for smooth mode transition. Note that the NMEP is directly correlated to the engine output torque. Experiment results show that the developed controller is able to achieve smooth combustion mode transition, where the NMEP fluctuation is kept below 3.8% during the mode transition.

关键词： HCCI mode transition model-based control iterative learning

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model-based control of FES-induced single joint movements

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IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 2001年第3期9卷 245-257页

作者： Ferrarin, M Palazzo, F Riener, R Quintern, J Politecn Milan ONLUS IRCCS Fdn Don Carlo GnocchiCtr Bioingn I-20148 Milan Italy Tech Univ Munich Inst Automat Control Engn D-80290 Munich Germany Univ Munich Klinikum Grosshadern Neurol Clin D-80290 Munich Germany

A crucial issue of functional electrical stimulation (FES) is the control of motor function by the artificial activation of paralyzed muscles. Major problems that limit the success of current FES systems are the nonlinearity of the target system and the rapid change of muscle properties due to fatigue. In this study, four different strategies, including an adaptive algorithm, to control the movement of the freely swinging shank were developed on the basis of computer simulations and experimentally evaluated on two subjects with paraplegia due to a complete thoracic spinal cord injury. After developing a nonlinear, physiologically based model describing the dynamic behavior of the knee joint and muscles, an open-loop approach, a closed-loop approach, and a combination of both were tested. In order to automate the individual adjustments cited above, we further evaluated the performances of an adaptive feedforward controller. The two parameters chosen for the adaptation were the threshold pulse width and the scaling factor for adjusting the active moment produced by the stimulated muscle to the fitness of the muscle. These parameters have been chosen because of their significant time variability. The first three controllers with fixed parameters yielded satisfactory result. An additional improvement was achieved by applying the adaptive algorithm that could cope with problems due to muscle fatigue, thus permitting on-line identification of critical parameters of the plant. Although the present study is limited to a simplified experimental setup, its applicability to more complex and functional movements can be expected.

关键词： adaptive control biomechanical model closed-loop control functional electrical stimulation (FES model-based control rehabilitation engineering

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model-based control of fuel cells: (1) Regulatory control

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JOURNAL OF POWER SOURCES 2004年第1-2期135卷 135-151页

作者： Golbert, J Lewin, DR Technion Israel Inst Technol Wolfson Dept Chem Engn PSE Res Grp IL-32000 Haifa Israel

This paper describes a model-based controller for the regulation of a proton exchange membrane (PEM) fuel cell. The model accounts for spatial dependencies of voltage, current, material flows, and temperatures in the fuel channel. Analysis of the process model shows that the effective gain of the process undergoes a sign change in the normal operating range of the fuel cell, indicating that it cannot be stabilized using a linear controller with integral action. Consequently, a nonlinear model-predictive-controller based on a simplified model has been developed, enabling the use of optimal control to satisfy power demands robustly. The models and controller have been realized in the MATLAB and SIMULINK environment. Initial results indicate improved performance and robustness when using model-based control in comparison with that obtained using an adaptive controller. (C) 2004 Elsevier B.V. All rights reserved.

关键词： PEM fuel cell dynamics model-based control model predictive control transient model

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