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flatness-based control in successive loops for robotic manipulators and autonomous vehicles

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2024年第5期55卷 954-979页

作者： Rigatos, G. Abbaszadeh, M. Pomares, J. Wira, P. Cuccurullo, G. Ind Syst Inst Automat Patras Greece Rensselaer Polytech Inst Dept ECS Engn Troy NY USA Univ Alicante Dept Syst Engn Alicante Spain Univ Haute Alsace IRIMAS Mulhouse France Univ Salerno Dept Ind Engn Fisciano Italy Ind Syst Inst Unit Ind Automat Rion 26504 Greece

The control problem for the multivariable and nonlinear dynamics of robotic manipulators and autonomous vehicles is solved with the use of a flatness-based control approach which is implemented in successive loops. The state-space model of these robotic systems is separated into two subsystems, which are connected between them in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input-output linearised flat systems. The state variables of the second subsystem become virtual control inputs for the first subsystem. In turn, exogenous control inputs are applied to the first subsystem. The whole control method is implemented in two successive loops and its global stability properties are also proven through Lyapunov stability analysis. The validity of the control method is confirmed in two case studies: (a) control of a 3-DOF industrial rigid-link robotic manipulator and (b) control of a 3-DOF autonomous underwater vessel. The novel control method can simplify significantly the solution of the nonlinear control problem for robotic manipulators and vehicles. Unlike global linearisation-based control schemes, the proposed flatness-based method in successive loops does not need any changes in state variables of complicated state-space model transformations.

关键词： Robotic manipulators autonomous underwater vessels multivariable control flatness-based control in successive loops Lyapunov analysis

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flatness-based control in successive loops for mechatronic motion transmission systems

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ASIAN JOURNAL OF control 2024年第6期26卷 2807-2842页

作者： Rigatos, Gerasimos Pomares, Jorge Siano, Pierluigi AL-Numay, Mohammed Abbaszadeh, Masoud Cuccurullo, Gennaro Ind Syst Inst Unit Ind Automat Patras 26504 Greece Univ Alicante Dept Syst Engn Alicante Spain Univ Salerno Dept Management & Innovat Syst Fisciano Italy King Saud Univ Dept Elect Engn Riyadh Saudi Arabia Rensselaer Polytech Inst Dept Elect Comp & Syst Engn Troy NY USA Univ Salerno Dept Ind Engn Fisciano Italy

Mechatronic systems with nonlinear dynamics are met in motion transmission applications for vehicles and robots. In this article, the control problem for the nonlinear dynamics of mechatronic motion transmission systems is solved with the use of a flatness-based control approach which is implemented in successive loops. The state-space model of these systems is separated into a series of subsystems, which are connected between them in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system, and control about it can be performed with inversion of its dynamics as in the case of input-output linearized flat systems. In this chain of i = 1, 2, ... , N subsystems, the state variables of the subsequent (i+1)-th subsystem become virtual control inputs for the preceding i-th subsystem and so on. In turn, exogenous control inputs are applied to the last subsystem and are computed by tracing backwards the virtual control inputs of the preceding N - 1 subsystems. The whole control method is implemented in successive loops, and its global stability properties are also proven through Lyapunov stability analysis. The validity of the control method is confirmed in the following two case studies: (a) control of a permanent magnet linear synchronous motor (PMLSM)-actuated vehicle's clutch and (ii) control of a multi-Degrees of Freedom (multi-DOF) flexible joint robot.

关键词： flatness-based control in successive loops global stability flexible-joint robots Lyapunov analysis permanent magnet linear synchronous motor (PMLSM) vehicle's clutch

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flatness-based control in successive loops for dual-arm robotic manipulators

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JOURNAL OF VIBRATION AND control 2024年

作者： Rigatos, Gerasimos Abbaszadeh, Masoud Farouk, Zouari Ind Syst Inst Unit Ind Automat Stadiou Str Patras 26504 Greece Rensselaer Polytech Inst Dept ECS Engn New York NY USA Ecole Ingn Tunis Belvedere Lab Rech Automat Tunis Tunisia

Dual-arm robotic manipulators are used in industry and for assisting humans since they enable dexterous handling of objects and more agile and secure execution of pick-and-place, grasping and lifting, or assembling tasks. In this article, a multi-loop flatness-based controller is proposed for the dynamic model of a dual-arm robot. In the considered application, the dual-arm robotic system has to lift and transfer an object under synchronized motion of its two end-effectors while it has also to compensate for the grasping forces between the two end-effectors and the object. The dynamic model of this robotic system is formulated while it is proven that the state-space description of the robot's dynamics is differentially flat. The control problem for this robotic system is solved with the use of a flatness-based control approach which is implemented in successive loops. To apply the multi-loop flatness-based control method, the state-space model of the dual-arm robotic manipulator is separated into subsystems, which are connected in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input-output linearized flat systems. The state variables of the preceding i-th subsystem become virtual control inputs for the subsequent (i + 1)-th subsystem. In turn, real control inputs are applied to the last subsystem. The whole control method is implemented in successive loops and its global stability properties are also proven through Lyapunov stability analysis. The multi-loop flatness-based control approach is an exact nonlinear control scheme which (i) does not use approximate linearization of the dynamic model of the controlled system and (ii) does not need changes of state variables and complicated state-space model transformations.

关键词： dual-arm robots cooperative object handling differential flatness properties flatness-based control in successive loops global stability Lyapunov analysis

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flatness-based control in successive loops of an H-Type Gantry Crane with Dual PMLSM

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JOURNAL OF VIBRATION ENGINEERING & TECHNOLOGIES 2024年第4期12卷 6457-6480页

作者： Rigatos, G. Siano, P. AL-Numay, M. Abbaszadeh, M. Pomares, J. Cuccurullo, G. Ind Syst Inst Unit Ind Automat Patras 26504 Greece Univ Salerno Dept Innovat Syst I-84084 Fisciano Italy King Saud Univ Dept Elect Engn Riyadh 11421 Saudi Arabia Rensselaer Polytech Inst Dept ECS Engn Troy NY 12065 USA Univ Alicante Dept Syst Eng Alicante 03690 Spain Univ Salerno Dept Ind Engn I-84084 Fisciano Italy

PurposeIn this article, the feedback control and stabilization problem of dual PMLSM-driven H-type gantry cranes is treated with the use of a flatness-based control method which is implemented in successive loops. Dual-drive gantry cranes can achieve high torque and high precision in the tasks' execution. Such a type of crane can be used in several industrial applications. The solution to the associated nonlinear control problem is a particularly challenging research *** integrated system that comprises the H-type gantry crane and two PMLSMs is shown to be differentially flat. The control problem for this robotic system is solved with the use of a flatness-based control approach which is implemented in successive loops. To apply the multi-loop flatness-based control scheme, the state-space model of the H-type gantry crane with dual PMLSM is separated into subsystems, which are connected in cascading *** each subsystem, control can be performed with inversion of its dynamics as in the case of input-output linearized flat systems. The state variables of the preceding (ith) subsystem become virtual control inputs for the subsequent (i+1)th subsystem. In turn, exogenous control inputs are applied to the last subsystem. The whole control method is implemented in successive loops and its global stability properties are also proven through Lyapunov stability *** novel nonlinear optimal control method has been developed for the dynamic model of a dual PMLSM-driven gantry crane. The proposed method achieves stabilization of the H-type gantry crane with dual PMLSM without the need for diffeomorphisms and complicated state-space model transformations. Using the local differential flatness properties of each one of the subsystems that constitute the gantry crane's model, the design of a stabilizing feedback controller is enabled.

关键词： H-type gantry cranes Permanent magnet linear synchronous motors Differential flatness properties flatness-based control in successive loops Global stability Lyapunov analysis

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flatness-based control in successive loops for Unmanned Aerial Vehicles and Micro-Satellites

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Guidance, Navigation and control 2023年第4期3卷 26-57页

作者： Gerasimos Rigatos Masoud Abbaszadeh Krishna Busawon Laurent Dala Unit of Industrial Automation Industrial Systems Institute 26504 Rion Patras Greece Department of ECSE Rensselaer Polytechnic Institute 12065New YorkUSA Nonlinear Control Group University of Northumbria Newcastle NE18STUK Department of Mechanical Engineering University of Northumbria Newcastle NE18ST UK

The control problem for the multivariable and nonlinear dynamics of unmanned aerial vehicles and micro-satellites is solved with the use of a flatness-based control approach which is implemented in successive *** state-space model of(i)unmanned aerial vehicles and(ii)micro-satellites is separated into two subsystems,which are connected between them in cascading *** one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input–output linearized flat *** state variables of the second subsystem become virtual control inputs for the first *** turn,exogenous control inputs are applied to the first *** whole control method is implemented in two successive loops and its global stability properties are also proven through Lyapunov stability *** validity of the control method is confirmed in two case studies:(a)control and trajectories tracking for the autonomous octocopter,(ii)control of the attitude dynamics of micro-satellites.

关键词： Autonomous octocopter attitude dynamics of micro-satellites multivariable control differential flatness properties flatness-based control in successive loops global stability Lyapunov analysis

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flatness-based control in successive loops for Autonomous Quadrotors

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 2024年第2期146卷 024501-024501页

作者： Rigatos, G. Abbaszadeh, M. Busawon, K. Dala, L. Pomares, J. Zouari, F. Ind Syst Inst Unit Ind Automat Patras 26504 Greece Rensselaer Polytech Inst Dept ECS Engn New York NY 12065 USA Univ Northumbria Nonlinear Control Grp Newcastle NE1 8ST England Univ Northumbria Dept Mech Engn Newcastle NE1 8ST England Univ Alicante Dept Syst Engn Alicante 03690 Spain ENIT Natl Tech Univ Tunis Lab Automat Tunis 1002 Tunisia

The control problem for the multivariable and nonlinear dynamics of unmanned rotorcrafts is treated with the use of a flatness-based control approach which is implemented in successive loops. The state-space model of 6DOF autonomous quadrotors is separated into two subsystems, which are connected between them in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input-output linearized flat systems. The state variables of the second subsystem become virtual control inputs for the first subsystem. In turn, exogenous control inputs are applied to the second subsystem. The whole control method is implemented in two successive loops and its global stability properties are also proven through Lyapunov stability analysis. The validity of the control method is further confirmed through simulation experiments showing precise tracking of 3D flight paths by the 6DOF quadrotor.

关键词： unmanned aerial vehicles quadrotors multivariable control differential flatness properties flatness-based control in successive loops global stability Lyapunov analysis

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flatness-based control in successive loops for Gas-Compressors Actuated by IMs and PMSMs

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2025年

作者： Rigatos, Gerasimos Siano, Pierluigi Sari, Bilal AL-Numay, Mohammed Abbaszadeh, Masoud Cuccurullo, Gennaro Ind Syst Inst Unit Ind Automat Rion Greece Univ Salerno Dept Management & Innovat Syst Fisciano Italy Univ Setif I Dept Elect Engn Setif Algeria King Saud Univ Elect Engn Dept Riyadh Saudi Arabia Rensselaer Polytech Inst Dept ECS Engn New York NY USA Univ Salerno Dept Ind Engn Fisciano Italy

The article proposes a novel solution to the control problem of centrifugal gas compressors, which are driven by three-phase induction motors (IMs) and three-phase permanent magnet synchronous motors (PMSMs), through a novel flatness-based control scheme which is implemented in successive loops. By rearranging state variables and splitting suitably the state vector of the IM-driven gas-compressor and the PMSM-driven gas compressor into subsystems, one arrives at writing the associated state-space models in the triangular (strict feedback) form. For the latter state-space description, it is possible to solve the control and stabilization problem using chained control loops. The state-space model of the IM-driven gas-compressor and the PMSM-driven gas-compressor is decomposed into cascading subsystems that satisfy differential flatness properties. For these subsystems, virtual control inputs are computed, capable of inverting their dynamics and eliminating the associated tracking error. The control inputs, which are actually applied to the complete nonlinear form of the IM-actuated gas-compressor and the PMSM-actuated gas compressor, are computed from the last subsystem of the chained state-space description. These control inputs incorporate, in a recursive manner, all virtual control inputs that were computed from the individual subsystems included in the initial state-space equation. The control inputs that should be applied to the nonlinear system so as to assure that all state vector elements will converge to the desirable setpoints are obtained at each iteration of the control algorithm by tracing backwards the subsystems of the chained state-space model. The method is of proven global stability and ensures fast and accurate tracking of the reference setpoints by the state variables of the IM-driven gas compressor and of the PMSM-driven gas compressor.

关键词： differential flatness properties flatness-based control in successive loops gas compressors global stability Lyapunov analysis multivariable control three-phase induction motors three-phase permanent magnet synchronous motor

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flatness-based control in successive loops for VSI-fed PM synchronous motors and induction motors

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JOURNAL OF control AND DECISION 2024年

作者： Rigatos, Gerasimos Siano, Pierluigi AL-Numay, Mohammed Abbaszadeh, Masoud Ind Syst Inst Unit Ind Automat Rion 26504 Greece Univ Salerno Dept Management & Innovat Syst Fisciano Italy King Saud Univ Dept Elect Engn Riyadh Saudi Arabia Rensselaer Polytech Inst Dept ECS Engn Troy NY USA

Electric traction systems consisting of inverter controlled three-phase motors are widely used in electric vehicles. In this article the control problem for the nonlinear dynamics of Voltage Source Inverter-fed synchronous and asynchronous motors is solved with the use of a flatness-based control approach which is implemented in successive loops. The state-space model of these systems is separated into a series of subsystems, which are connected between them in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input-output linearised flat systems. In this chain of $ i=1,2,\ldots,N $ i = 1 , 2 , horizontal ellipsis , N subsystems, the state variables of the subsequent (i + 1th) subsystem become virtual control inputs for the preceding (ith) subsystem, and so on. In turn, exogenous control inputs are applied to the last subsystem and are computed by tracing backwards the virtual control inputs of the preceding N-1 subsystems. The whole control method is implemented in successive loops and its global stability properties are also proven through Lyapunov stability analysis. The validity of the control method is confirmed in two case studies: (a) control of a Voltage Source Inverter-fed Permanent Magnet Synchronous Motor (VSI-fed PMSM), (ii) control of a Voltage Source Inverter-fed Induction Motor (VSI-fed IM).

关键词： Voltage source inverter permanent magnet synchronous motor induction motor VSI-PMSM VSI-IM electric vehicles' traction nonlinear control differential flatness properties flatness-based control in successive loops global stability Lyapunov analysis

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flatness-based control in successive loops for electropneumatic actuators and robots

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IFAC JOURNAL OF SYSTEMS AND control 2023年 25卷

作者： Rigatos, G. Abbaszadeh, M. Pomares, J. Ind Syst Inst Unit Ind Automat Rion 26504 Greece Rensselaer Polytech Inst Dept ECS Engn Troy NY 12065 USA Univ Alicante Dept Syst Engn Alicante 03690 Spain

The control problem for the nonlinear dynamics of robotic and mechatronic systems with electrop-neumatic actuation is solved with the use of a flatness-based control approach which is implemented in successive loops. The state-space model of these systems is separated into a series of subsystems, which are connected between them in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input-output linearized flat systems. In this chain of i = 1, 2, . . . , N subsystems, the state variables of the subsequent (i + 1th) subsystem become virtual control inputs for the preceding (ith) subsystem, and so on. In turn, exogenous control inputs are applied to the last subsystem and are computed by tracing backwards the virtual control inputs of the preceding N - 1 subsystems. The whole control method is implemented in successive loops and its global stability properties are also proven through Lyapunov stability analysis. The validity of the control method is confirmed in two case studies: (a) control of an electropneumatic actuator, (ii) control of a multi-DOF robotic manipulator with electropneumatic actuators. & COPY;2023 Elsevier Ltd. All rights reserved.

关键词： Robotic systems Mechatronic systems Electropneumatic actuation Nonlinear control Differential flatness properties flatness-based control in successive loops Global stability Lyapunov analysis

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Nonlinear optimal and multi-loop flatness-based control of the attitude of reentry space vehicles

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AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY 2025年第4期97卷 417-440页

作者： Rigatos, Gerasimos G. Abbaszadeh, Masoud Pomares, Jorge Cuccurullo, Gennaro Ind Syst Inst Unit Ind Automat Patras Greece Rensselaer Polytech Inst Dept ECS Engn Troy NY USA Univ Alicante Dept Syst Engn Alicante Spain Univ Salerno Dept Ind Engn Salerno Italy

PurposeThe purpose of this paper has been to present new solutions to the nonlinear control problem of the degrees of freedom (6-DOF) attitude dynamics of reentry space vehicles. Among eligible control methods for the spacecraft's attitude dynamics one can distinguish some sliding-mode control schemes. Besides there are several backstepping control approaches. In addition, one can find results on model predictive control concepts and optimal control-type concepts. Furthermore, one can distinguish methods which perform disturbance estimation and disturbance compensation thus improving the robustness of the reentry space vehicles' control loop. Besides, this control problem is often treated with use of methods which rely on state-space model transformations and on changes of state variables. The aim of the present paper has been to achieve control and stabilization for the attitude dynamics of reentry space vehicles without forth and back state-space model transformations, changes of state variables (diffeomorphisms), and without the associated singularity issues. To this end, two new nonlinear control methods have been proposed: (i) nonlinear optimal control and (ii) flatness-based control in successive ***/methodology/approachIn this paper, the control problem for the multivariable and nonlinear 6-DOF dynamics of the attitude of autonomous reentry space vehicles is solved with the use of (i) a nonlinear optimal control method and (ii) a flatness-based control approach which is implemented in successive loops. To apply method (i) that is nonlinear optimal control, the dynamic model of the reentry space vehicle undergoes approximate linearization at each sampling instant with the use of first-order Taylor series expansion and through the computation of the associated Jacobian matrix. The linearization point is defined by the present value of the system's state vector and by the last sampled value of the control inputs vector. To compute the feedback gains of

关键词： Reentry space vehicle Attitude dynamics Differential flatness properties Nonlinear optimal control flatness-based control in successive loops Global stability

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