Download or read book Adaptive and Delay Compensating Robot Controllers written by Mostafa Bagheri and published by . This book was released on 2019 with total page 167 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robot manipulators are used in network-based industrial units, and even homes, by expending a significant lumped amount of energy. Manipulators are also subject to large time delays like many engineering systems, which may lead to the lack of high precision required and could cause not only poor control performance, but also catastrophic instability. Hence designing control algorithms for such delay systems to compensate for the time delay and having a robust control law is a necessity. Another important point which needs to be noticed in utilizing robots is environmental uncertainties, which may not be considered in the modeling. To summarize, parametric uncertainty and/or time-delay through manipulation along with optimal operation are important criteria for the operation of robotic systems. One of the main contributions of this dissertation is focusing on the development of robust techniques for achieving optimal operation and control of the arm to attain perfect tracking. For the operational optimization, we examine a discrete-time multi-variable gradient-based Extremum Seeking (ES) scheme enforcing operational time and torque saturation constraints to minimize the lumped amount of energy consumed for a path given. Finally, the optimal trajectory is experimentally implemented to be thoroughly compared with the inefficient one. Precise control of manipulators in the presence of delay or uncertainty and variation in their environments is also a prerequisite to feasibly utilize robot manipulators. Nonlinear control theorems for nonlinear systems (e.g. robotic systems) have been developed for a long period, however, implementing them, in reality, is one of the most challenging problems in engineering applications. Therefore, formulating novel robust and computationally efficient control approaches is still a necessity. Another significant contribution of this work is a practical implementation of various control theories, with verifying all the necessary assumptions, for high-DOF manipulators. We formulate different computationally efficient control laws to implement real-time controllers for a high Degree-of-Freedom manipulator with uncertainties or in the presence of delay to move toward implementing those control laws in other engineering applications.

Download or read book Adaptive Trajectory Tracking Control for a Nonholonomic Mobile Robot with Time Delay Compensation Through Kalman Filtering written by Todd Alexander Baxter and published by . This book was released on 2009 with total page 88 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Delay Compensation for Nonlinear Adaptive and PDE Systems written by Miroslav Krstic and published by Springer Science & Business Media. This book was released on 2010-01-23 with total page 458 pages. Available in PDF, EPUB and Kindle. Book excerpt: Shedding light on new opportunities in predictor feedback, this book significantly broadens the set of techniques available to a mathematician or engineer working on delay systems. It is a collection of tools and techniques that make predictor feedback ideas applicable to nonlinear systems, systems modeled by PDEs, systems with highly uncertain or completely unknown input/output delays, and systems whose actuator or sensor dynamics are modeled by more general hyperbolic or parabolic PDEs, rather than by pure delay. Replete with examples, Delay Compensation for Nonlinear, Adaptive, and PDE Systems is an excellent reference guide for graduate students, researchers, and professionals in mathematics, systems control, as well as chemical, mechanical, electrical, computer, aerospace, and civil/structural engineering. Parts of the book may be used in graduate courses on general distributed parameter systems, linear delay systems, PDEs, nonlinear control, state estimator and observers, adaptive control, robust control, or linear time-varying systems.

Download or read book Delay Adaptive Linear Control written by Yang Zhu and published by Princeton University Press. This book was released on 2020-04-28 with total page 354 pages. Available in PDF, EPUB and Kindle. Book excerpt: Basic predictor feedback for single-input systems -- Basic idea of adaptive control for single-input systems -- Single-input systems with full relative degree -- Single-input systems with arbitrary relative degree -- Exact predictor feedback for multi-input systems -- Full-state feedback of uncertain multi-input systems -- Output feedback of uncertain multi-input systems -- Output feedback of systems with uncertain delays, parameters and ODE state -- Predictor feedback for uncertainty-free systems -- Predictor feedback of uncertain single-input systems -- Predictor feedback of uncertain multi-input systems.

Download or read book Adaptive Control of Mechanical Manipulators written by John J. Craig and published by Addison Wesley Publishing Company. This book was released on 1988 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robust and Adaptive Control written by Eugene Lavretsky and published by Springer Science & Business Media. This book was released on 2012-11-13 with total page 506 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robust and Adaptive Control shows the reader how to produce consistent and accurate controllers that operate in the presence of uncertainties and unforeseen events. Driven by aerospace applications the focus of the book is primarily on continuous-dynamical systems. The text is a three-part treatment, beginning with robust and optimal linear control methods and moving on to a self-contained presentation of the design and analysis of model reference adaptive control (MRAC) for nonlinear uncertain dynamical systems. Recent extensions and modifications to MRAC design are included, as are guidelines for combining robust optimal and MRAC controllers. Features of the text include: · case studies that demonstrate the benefits of robust and adaptive control for piloted, autonomous and experimental aerial platforms; · detailed background material for each chapter to motivate theoretical developments; · realistic examples and simulation data illustrating key features of the methods described; and · problem solutions for instructors and MATLAB® code provided electronically. The theoretical content and practical applications reported address real-life aerospace problems, being based on numerous transitions of control-theoretic results into operational systems and airborne vehicles that are drawn from the authors’ extensive professional experience with The Boeing Company. The systems covered are challenging, often open-loop unstable, with uncertainties in their dynamics, and thus requiring both persistently reliable control and the ability to track commands either from a pilot or a guidance computer. Readers are assumed to have a basic understanding of root locus, Bode diagrams, and Nyquist plots, as well as linear algebra, ordinary differential equations, and the use of state-space methods in analysis and modeling of dynamical systems. Robust and Adaptive Control is intended to methodically teach senior undergraduate and graduate students how to construct stable and predictable control algorithms for realistic industrial applications. Practicing engineers and academic researchers will also find the book of great instructional value.

Download or read book Prescribed Time Decentralized and Delay Adaptive Control Strategies for Robot Manipulators written by Alexander Bertino and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this manuscript, we formulate and experimentally verify four state-of-the-art controlstrategies on Baxter, a 7-DOF redundant robot manipulator. The control strategies examined in this manuscript are the subject of active research in the field of non-linear control, and have the potential to significantly improve the performance of robot manipulators when they operate in unstructured environments. The first control strategy we investigate in this manuscript is model-free decentralized-adaptive control. The purpose of this control strategy is to achieve consistent performance across a wide range of joint configurations and end-effector inertias, while having a similar computational efficiency as PID approaches. The second control strategy we investigate in this manuscript is delay-adaptive control. The purpose of this control strategy is to simultaneously estimate and compensate for an unknown long actuator delay. The third control strategy we investigate in this manuscript is prescribed-time control. A key feature of this control strategy is that the settling time is explicitly assigned by the control designer to a value desired, or "prescribed" by the user, and that the settling time is independent of the initial conditions and of the reference signal. The fourth control strategy we investigate in this manuscript is the prescribed-time safety filter. This formation yields a filter that is capable of avoiding multiple obstacles in a minimally invasive manner with bounded joint torques, while simultaneously allowing a nominal controller to converge to positions located on the boundary of the safe set by the end of a fixed-duration task. Through the formulation and experimental verification of each control strategy we present in this manuscript, we demonstrate that our proposed methods perform well in both theory and in practice.

Download or read book Intelligent Networked Teleoperation Control written by Zhijun Li and published by Springer. This book was released on 2015-05-15 with total page 289 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It closely examines networked control as a field at the intersection of systems & control and robotics and presents a number of experimental case studies on testbeds for robotic systems, including networked haptic devices, robotic network systems and sensor network systems. The concepts and results outlined are easy to understand, even for readers fairly new to the subject. As such, the book offers a valuable reference work for researchers and engineers in the fields of systems & control and robotics.

Download or read book Advanced Discrete Time Control written by Khalid Abidi and published by Springer. This book was released on 2015-03-25 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers a wide spectrum of systems such as linear and nonlinear multivariable systems as well as control problems such as disturbance, uncertainty and time-delays. The purpose of this book is to provide researchers and practitioners a manual for the design and application of advanced discrete-time controllers. The book presents six different control approaches depending on the type of system and control problem. The first and second approaches are based on Sliding Mode control (SMC) theory and are intended for linear systems with exogenous disturbances. The third and fourth approaches are based on adaptive control theory and are aimed at linear/nonlinear systems with periodically varying parametric uncertainty or systems with input delay. The fifth approach is based on Iterative learning control (ILC) theory and is aimed at uncertain linear/nonlinear systems with repeatable tasks and the final approach is based on fuzzy logic control (FLC) and is intended for highly uncertain systems with heuristic control knowledge. Detailed numerical examples are provided in each chapter to illustrate the design procedure for each control method. A number of practical control applications are also presented to show the problem solving process and effectiveness with the advanced discrete-time control approaches introduced in this book.

Download or read book Fractional Modeling and Controller Design of Robotic Manipulators written by Abhaya Pal Singh and published by Springer Nature. This book was released on 2020-10-15 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book at hand is an appropriate addition to the field of fractional calculus applied to control systems. If an engineer or a researcher wishes to delve into fractional-order systems, then this book has many collections of such systems to work upon, and this book also tells the reader about how one can convert an integer-order system into an appropriate fractional-order one through an efficient and simple algorithm. If the reader further wants to explore the controller design for the fractional-order systems, then for them, this book provides a variety of controller design strategies. The use of fractional-order derivatives and integrals in control theory leads to better results than integer-order approaches and hence provides solid motivation for further development of control theory. Fractional-order models are more useful than the integer-order models when accuracy is of paramount importance. Real-time experimental validation of controller design strategies for the fractional-order plants is available. This book is beneficial to the academic institutes for postgraduate and advanced research-level that need a specific textbook on fractional control and its applications in srobotic manipulators. The book is also a valuable teaching and learning resource for undergraduate and postgraduate students.

Download or read book A PD Robot Controller with a Fuzzy Adaptive Gravity Compensation written by Lei Pan (writer on engineering.) and published by . This book was released on 1998 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Mobile Robot Motion Control and Path Planning written by Ahmad Taher Azar and published by Springer Nature. This book was released on 2023-06-30 with total page 670 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning. As a result, safe pathways for high-dimensional systems must be developed in a timely manner. Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human–robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners. For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.

Download or read book Intelligent Systems and Robotics written by George Zobrist and published by CRC Press. This book was released on 2000-03-09 with total page 463 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intelligent Systems and Robotics focuses on new developments in robotics and intelligent systems and provides insight, guidance and specific techniques vital to those concerned with the design and implementation of robotics and intelligent system applications. Intelligent Systems and Robotics presents information on a 3-D vision for robots and inte

Download or read book Robotic Welding Intelligence and Automation written by Tzyh-Jong Tarn and published by Springer Science & Business Media. This book was released on 2004-03-10 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt: This research report brings together present trends in advanced welding robots, robotic welding, artificial intelligent and automatic welding. It includes important technical subjects on welding robots such as intelligent technologies and systems, and design and analysis. Modeling, identification and control of the welding process are presented, as well as knowledge-based systems for welding and tele-robotic welding. Other topics covered are sensing and data fusion, computer vision and virtual-reality applications of the welding process. An overview of intelligent and flexible manufacturing systems is given in addition to artificial intelligent technologies for industrial processes.

Download or read book Advances in Applied Nonlinear Dynamics Vibration and Control 2021 written by Xingjian Jing and published by Springer Nature. This book was released on 2021-09-23 with total page 1210 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is to provide readers with up-to-date advances in applied and interdisciplinary engineering science and technologies related to nonlinear dynamics, vibration, control, robotics, and their engineering applications, developed in the most recent years. All the contributed chapters come from active scholars in the area, which cover advanced theory & methods, innovative technologies, benchmark experimental validations and engineering practices. Readers would benefit from this state-of-the-art collection of applied nonlinear dynamics, in-depth vibration engineering theory, cutting-edge control methods and technologies, and definitely find stimulating ideas for their on-going R&D work. This book is intended for graduate students, research staff and scholars in academics, and also provides useful hand-up guidance for professional and engineers in practical engineering missions.

Download or read book Control Strategy for Time Delay Systems written by Mohammad-Hassan Khooban and published by Academic Press. This book was released on 2020-11-21 with total page 438 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control Strategy for Time-Delay Systems Part I: Concepts and Theories covers all the important features of real-world practical applications which will be valuable to practicing engineers and specialists, especially given that delays are present in 99% of industrial processes. The book presents the views of the editors on promising research directions and future industrial applications in this area. Although the fundamentals of time-delay systems are discussed, the book focuses on the advanced modeling and control of such systems and will provide the analysis and test (or simulation) results of nearly every technique described. For this purpose, highly complex models are introduced to ?describe the mentioned new applications, which are characterized by ?time-varying delays with intermittent and stochastic nature, several types of nonlinearities, and the presence ?of different time-scales. Researchers, practitioners, and PhD students will gain insights into the prevailing trends in design and operation of real-time control systems, reviewing the shortcomings and future developments concerning practical system issues, such as standardization, protection, and design. Presents an overview of the most recent trends for time-delay systems Covers the important features of the real-world practical applications that can be valuable to practicing engineers and specialists Provides analysis and simulations results of the techniques described in the book

Download or read book Stability and Robustness of Adaptive Controllers for Underactuated Lagrangian Systems and Robotic Networks written by and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: