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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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ML DESIGNERTM as simulation tool in robotics

ML DESIGNERTM as simulation tool in robotics

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International Conference on Telecommunications in Modern Satellite, Cable and Broadcasting Service (TELSIKS)

作者： Mario Schulz Ivan Velickovic Sasa Andelkovic Volker Zerbe Goran S. Dordevic Computer Science and Automation Faculty System and Control Theory Department Technical University Ilmenau Ilmenau Germany Faculty of Electronics engineering Robotics Lab University of Nis Nis Serbia

Robots are complex systems that require multidisciplinary approach to development. Hence, both research and production of a robotic system require a tool that would provide means for coordination between teams with different areas of expertise as well as the ability to integrate, simulate and debug the system in a comprehensive way. Also, with the growing popularity of service robotics, research and modeling of human-machine interaction gains the attention. From a simulation tool, it is expected to support the means for describing this interaction. For that purpose we are investigating the ML Designer TM , not just as a possible simulation tool, but also as a modeling and design paradigm. For verification purposes we will compare it against MATLAB Simulink TM . A pneumatic system will be modeled with both tools and a comparison will be performed.

关键词： Mathematical model Robot kinematics Cleaning System testing Power system modeling MATLAB Pneumatic systems control systems Level control Costs

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On testing and measurement tools for control of wireless telecommunication networks

On testing and measurement tools for control of wireless tel...

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MIPRO 2007 - 30th Jubilee International Convention: Telecommunications and Information

作者： Gadewadikar, Jyotirmay Kuljaca, Ognjen Sijak, Tomislav Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd. S. Fort Worth TX 76118 United States Department of Advanced Technology Systems Research Institute Alcorn State University Lorman MS 39096 United States Brodarski Institute Control Engineering Department Av. V. Holjevca 20 10020 Zagreb Croatia

ISBN: (纸本)9789532330281

Over the years a lot of rigorous mathematical analysis has been done by the systems and controls community for optimization of multivariable systems with a mathematically rigorous systems theoretic approach. In parallel, wireless telecommunication industry was working on performance measurement analysis tools and achieved demonstrable optimization. This paper will elaborate on the need for finding common grounds between optimization of telecommunication networks and optimal control theory;some existing measurement tools will be presented. Decision on measurement tools for designing optimal, reliable telecommunications networks implies tradeoffs between reliability, capacity, and the economics of meeting present and future customer demands. The creation of efficient wireless networks is an everyday challenge in front of service providers. In this paper there are first identified the parameters which can and should be measured to facilitate the optimization for performance of telecommunication networks. Secondly, there are given available resources on measurements tools for these parameters, together with a comparative analysis. Finally, the hardware setup for the some of these measurements will be explained. © 2007 by MIPRO.

关键词： Telecommunication industry

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Improved Fault Tolerance for Autolanding Using Adaptive Backstepping Neural controller

Improved Fault Tolerance for Autolanding Using Adaptive Back...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Nikhil S. Naikal Rohit Panikkar Abhay A. Pashilkar R. Nagaraj Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Electronics & Communication Engineering R.V. College of Engineering Bangalore India Flight Mechanics and Control Division National Aerospace Laboratories Bangalore India

This paper presents a neural-aided controller that enhances the fault tolerant capabilities of a high performance fighter aircraft during the landing phase when subjected to severe winds and failures such as stuck control surfaces. The neural network scheme herein is called adaptive backstepping neural controller (ABNC). In this study we have combined ABNC along with the classical controller to enhance the failure tolerance of the latter using the feedback error-learning paradigm due to Gomi and Kawato. The ABNC controller uses radial basis function neural networks with on-line learning without prior training. Information about actuator failures is not available to the controller for use in reconfiguration. The baseline controller required for the feedback error learning has been designed using a classical design approach to achieve the desired autonomous landing profile with tight touchdown dispersions called therein as the pillbox. The baseline design is capable of meeting touchdown requirements in severe winds but is not specifically designed for failures. The performance of the classical design augmented with the ABNC based neural controller is studied in detail for predefined failure scenarios. The failures considered in this study are: i. Single faults of either aileron or elevator stuck at certain deflections and ii. Combination fault for both one aileron and one elevator stuck at different deflections. A hard over failure of particular interest in this study is that of both the ailerons being stuck at particular deflections. Simulation studies indicate that the neural controller aids the baseline controller, significantly enhancing the fault-tolerance envelope.

关键词： Fault tolerance Programmable control Adaptive control Backstepping Neurofeedback Error correction Elevators Aerospace control Military aircraft Neural networks

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A new model-based dynamic feedback control for systems with friction

A new model-based dynamic feedback control for systems with ...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Karim Khayati Pascal Bigras Control and Robotics Laboratory (CoRo) École de Technologie Supérieure Montreal QUE Canada Department of Automated Manufacturing Engineering École de Technologie Supérieure Montreal QUE Canada

This paper deals with an extended output- feedback positioning tracking of a servo-system with friction based on generalized Maxwell-slip (GMS) friction observer dynamics with fixed model parameters. We succeed in designing a linear time invariant (LTI) compensator which ensures exponential stabilization and additional multi-objective features (e.g. closed-loop pole location). These conditions are expressed in terms of linear matrix inequalities (LMIs). Numerous simulations results illustrate the effectiveness of the proposed compensator and state a comparison with the similar LuGre closed-loop friction compensator.

关键词： Feedback control Friction Stability Linear matrix inequalities Pi control Proportional control Output feedback Velocity control Position measurement Velocity measurement

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MODELING AND control OF ELEVATORS BY STATECHARTS

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Asian Journal of control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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Neural Network-Based Compensation control of Robot Manipulators with Unknown Dynamics

Neural Network-Based Compensation Control of Robot Manipulat...

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American control Conference (ACC)

作者： Xuemei Ren A B Rad Frank L Lewis Department of Automatic Control Beijing Institute of Technology Beijing China Department of Electrical Engineering Hong Kong Polytechnic University Kowloon Hong Kong China Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA

A neural network (NN)-based compensation control is proposed for the trajectory tracking of robotic manipulators with unknown dynamics. This compensation controller includes a PD feedback controller, a nonlinear feedback controller and a neural network compensator with input modification. The PD controller and the nonlinear feedback controller are used to ensure the stability of the robot system, while the neural network is employed to provide the required feedforward compensation input torque for the trajectory tracking. The inputs of the neural network are modified by the reference tracking error and the network derivatives in order to further improve the control performance. The theoretical result concerning the tracking error asymptotically convergent to a neighborhood of zero is given. In addition, a NN-based robust compensation controller is proposed, using a slide mode control in the control law, which leads to asymptotic stability of the tracking errors. Simulation studies have been carried out to verify the effectiveness of the approaches and show the feasibility of the proposed schemes on a two-link manipulator.

关键词： Manipulator dynamics Neural networks Robot control Adaptive control Trajectory PD control Error correction Nonlinear dynamical systems Torque control Nonlinear control systems

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Stable grasp of a 2D rigid object through rolling with soft fingers

Stable grasp of a 2D rigid object through rolling with soft ...

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IEEE International Conference on robotics and Biomimetics

作者： Morio Yoshida Suguru Arimoto Ji-Hun Bae Zhi-Wei Luo Bio-Mimetic Control Research Center RIKEN Nagoya Aichi Japan Pohang Institute of Intelligent Robotics PIRO Nam Gyeongbuk South Korea Department of Computer and Systems Engineering Kobe University Kobe Hyogo Japan

ISBN: (纸本)9781424417612;1424417619

This paper first proposes a testbed problem of control for dynamic grasp or immobilization of a 2D rigid object for the sake of gaining a physical insight into stable grasp of an object by soft fingers. Such a problem may play a principal role in understanding the methodology of sensory feedback stabilization similarly to the role of "inverted pendulum on a cart" problems in stabilization and control of mechanical systems. Second a class of coordinated control signals is proposed and shown to be effective for realizing stable grasp of a 2D rigid object in a blind manner without using the knowledge of object kinematics or external sensings. It is shown that rolling contact constraints around the centers of contact areas between soft finger-tips and object surfaces treated as nonholonomic constraints play an essential role in stabilization of a dynamic grasp with force/torque balance.

关键词： Fingers Robot kinematics Torque Testing Feedback control systems Mechanical systems Robot sensing systems Intelligent robots Biomimetics

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Neural network feedforward control for mechanical systems with external disturbances

Neural network feedforward control for mechanical systems wi...

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 2301-2758

作者： Xuemei Ren Frank L Lewis Shuzhi Sam Ge Jingliang Zhang Department of Automatic Control Beijing Institute of Technology Beijing China Automation and Robotics Research Institute University of Texas Arlington Fort worth TX USA Department of Electrical and Computer Engineering National University of Singapore Singapore ASTAR Data Storage Institute Singapore

ISBN: (纸本)9781424414970;1424414970

In this paper, a novel feedforward control based on accelerometer measurements is proposed for mechanical systems with external disturbances. The control scheme includes a feedback controller and a neural network feedforward compensator. The feedback controller is employed to guarantee the stability of the mechanical systems, while the neural network is used to provide the required feedforward compensation input for trajectory tracking with the help of a sensor to detect external vibrations. Dynamics knowledge of the plant, disturbances and the sensor is not required. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the proposed controller performs well for a hard disk drive system and a two-link manipulator.

关键词： Mechanical systems external disturbance feedback controller FEEDFORWARD control disk drive system Neural network Sensors trajectory tracking

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TRACKING DOMAINS FOR UNSTABLE PLANTS WITH SATURATING-LIKE ACTUATORS

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Asian Journal of control 2008年第4期1卷

作者： V.A. Yakubovich S. Nakaura K. Furuta Vladimir A. Yakubovich is a corresponding member of Russian Academy of Science. Vladimir A. Yakubovich was born in Novosibirsk Russia in 1926. he entered Moscow University in 1946 and graduated in 1949. he received the Candidate of Science degree (Ph.D.) in 1953 and the Doctor of Science degree in 1959 from Leningrad University. In 1959 he joined the Leningrad University and he has remained since then. He is the author of more than 270 papers and a coauthor of seven books in different areas of applied mathematics and control theory. he has worked in parametric resonance theory in the theory of stability of nonlinear systems and in optimization theory. Dr. Yakubovich has served on many scientific committees and editorial boards. he is a member of several scientific socienties in Russia. He was awarded the Norbert Wiener Prize (1991) a prize from the international editorial company “Nauka” for best publication in its journals (1995) and the IEEE Control Systems Award (1996). Since 1991 he has been a corresponding member of the Russian Academy of Sciences. Dept. of Control Engineering Tokyo Institute of Technology Japan. Shigeki Nakaura received his B.S. and M.S. degrees in Control Engineering from the Tokyo Institute of Technology in 1995 and 1997 respectively. He is currently a PhD student of the Tokyo Institute of Technology. His research interests include robotics and intelligent machining. He is a member of SICE JSPE and IEEE. Katsuhisa Furuta was born in Tokyo Japan in 1940. He received his B.S. M.S. and Ph.D. degrees in Engineering from the Tokyo Institute of Technology in 1962 1964 and 1967 respectively. he was a post doctoral fellow at Laval University (Quebec Canada) from July 1967 to August 1969. Since then he has been a member of the teaching staff of the Tokyo Institute of Technology Department of Control Engineering where he is currently a Professor Graduate School of Information Science and Engineering. He was a Russell Severance Springer Professor University of California at

In many mechanical systems, the tracking control is one of the most important issues. Therefore for the unstable system subject to actuator saturation, the domain of the initial states corresponding to an arbitrary reference signal, within which tracking condition can be achieved, is interesting to be considered. In this paper, an approximate tracking domain is derived analytically. First in Theorem 1, for simple case, it is constructed by using the partial Lyapunov function and the absolute stability theory. In the following Theorems 2 and 3, a new idea is used to obtain larger domains. Finally in the last section, a simple numerical example is given.

关键词： Actuator constraint tracking control nonlinear analysis absolute stability

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