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Crane systems used during offshore installations in harsh sea conditions must satisfy rigorous requirements in terms of safety and efficiency. The vertical vessel motion which is due to ocean waves excites dynamic forces which have an extensive effect on the overall crane structure and its lifetime. Furthermore, the operator gets handicapped during fine positioning of the payload. Thus, compensation...
This article describes the design of a linear observer-linear controller-based robust output feedback scheme for output reference trajectory tracking tasks in an input delayed omnidirectional mobile robot. The unknown, possibly state-dependent, additive nonlinearity influencing the tracking error dynamics, is modeled as an absolutely uniformly bounded, additive unknown “time-varying disturbance” input...
This paper presents a comparative study of a sliding-mode controller (SMC) and a cascaded proportional/proportional integral (P/PI) controller with zero-phase error tracking controller (ZPETC) and disturbance observer (DOB). The tests are performed on a new underwater grinding robot. The comparison is based on trajectory tracking performance and robustness to external disturbances, such as those induced...
Path tracking control problem of a mobile robot is discussed in this paper. It's a typical problem in the field of robot locomotion. A control strategy combined with fuzzy control based on the Line of Sight (LOS) is proposed. According to the experience of driver, fuzzy control rule is selected with hierarchical method. With Line-of-sight method, a fuzzy control approach is then constructed. The results...
A new method for precise machining non-cylinder pin hole of piston by using embedded giant magnetostrictive smart component is presented. The intrinsic hysteresis observed in giant magnetostrictive material (GMM) has impaired the motion accuracy. A new kind of architecture of neural network is proposed to approximate the smart components hysteresis. The inverse hysteresis model of GMM smart component...
The most important factor for a mobile robot is navigation. Success in localization is one of the four requirements of navigation which includes perception, localization, cognition and motion control. Localization is usually done in two ways: global localization problem and position tracking problem. In the global localization problem the robot does not know its initial position and it has to localize...
In this paper a trajectory tracking system for UAV is studied. The system consists of a flight control system and a guidance law. In inner loop, robust H∞ control theory is used to design the flight control system. In outer loop, the navigation control commands are produced by the deviation of the real position data of UAV and the preset flight path. The attitude commands are calculated from navigation...
A novel sub-optimal control algorithm based on fuzzy logic system (FLS) to design continuous sliding mode control (CSMC) for uncertain nonlinear systems is presented. By means of combining a fuzzy logic system into sliding mode control, continuous sliding mode control (SMC) can be designed on the derivative of the control signal. The realization of the controller is easier and more convenient than...
The application of inversion theory to nonlinear singular systems is an important problem. The output tracking for affine nonlinear singular systems, especially for non-minimum phase systems, using stable inverse method is discussed in this paper. This method not only get the stable output tracking asymptotically, but also eliminate the transient error, thus achieve the salient advantages of both...
A solution to trajectory-tracking control problem for a four-wheel-steering vehicle (4WS) is proposed using sliding-mode approach. The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering and to a tracking velocity that is not necessarily constant. The sliding-mode approach make the solutions robust with respect...
To improve the tracking precision, integrated control strategy of Permanent Magnet Linear Synchronous Motor (PMLSM) based on sliding mode control and repetitive control was proposed in this paper. Because PMLSM is easily affected by the periodic thrust fluctuation caused by the end effect, the periodic friction and other aperiodic disturbance during operating. The speed controller and the current...
A novel motion control algorithm was introduced to achieve dance between a man and a passive type robot (PDR), which can not move by itself, but can guarantee higher level of safety in the process of human-robot cooperation. Firstly, the characteristics of servo brake were analyzed, and the motion was divided into 8 states according to the kinematic model and control constraint condition. Then feasible...
A new nonlinear trajectory tracking controller is proposed for a mobile robot based on the stability theory of cascaded system. To relax the persistency exciting assumption on the reference angular velocity, the whole tracking errors are divided into the cross track error and orientation error subsystem and the forward track error subsystem, not as in the former research. The back-stepping technique...
We address the problem of designing decentralized laws to control a team of general fully actuated manipulators which synchronize their movements while following the same desired trajectory. To this effect we investigate an adaptive control of an identical multiple manipulators, with unknown inertia parameters, tracking a common trajectory. It is also assumed that all the robots in the synchronization...
This paper proposes a novel feedforward controller for non-minimum phase systems by utilizing the preview information of the desired trajectory. The performance of the proposed controller is analyzed theoretically and verified through the simulation including comparison with the optimal zero phase error tracking controller and the preview based stable inversion. The simulation results show that the...
Applications of switched reluctance motor (SRM) to direct drive robot are increasingly popular because of its valuable advantages. However, a greatest potential defect its torque ripple owing to the significant nonlinearities. In this paper, a fuzzy neural network (FNN) is applied to control the SRM torque at the goal of the torque-ripple minimization. The desired current provided by FNN model compensates...
In this paper, we consider a multi-robot cooperative control problem via a robust consensus tracking algorithm. The main objective of this paper is to develop and implement a multi-robot formation control testbed and use it to verify the effectiveness of a cooperative control algorithm developed in our recent work. In the robust consensus tracking algorithm, an observer is developed to identify the...
As a stage toward a complete upper-arm motion assisted exoskeleton robot (i.e., 7DOF) this paper focused on the development of a 2DOF exoskeleton robot to rehabilitate and to ease wrist joint movements. To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and proper functioning of the upper-limb is essential. We therefore have been developing an exoskeleton...
Formation control of multiple agents has been studied extensively in the past few years. In most of these studies the structure of the communication network was considered to be fixed. However, in some applications this assumption may not hold, specially when the communication among the agents depends on their relative distance or attitude. In this paper, the problem of formation control of multiple...
This paper presents hybrid control strategy for robust trajectory tracking control for a class of uncertain nonlinear mechanical systems. The design combines adaptive fuzzy system with robust adaptive control algorithm. Adaptive fuzzy system approximates unknown nonlinear system dynamics while a robustifying adaptive control term is used to cope with uncertainties due to the presence of external disturbance,...
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