Download or read book Control of Flexible link Manipulators Using Nonlinear H infinity Techniques written by Mohammad J. Yazdanpanah and published by . This book was released on 1997 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Control of Flexible link Manipulators Using Nonlinear H infinity Techniques written by and published by . This book was released on 1997 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Design of Dynamic Nonlinear Control Techniques for Flexible link Manipulators written by Victor Gavriloiu and published by . This book was released on 2005 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, we develop robust dynamical controllers for addressing the problems of tracking and regulation of both rigid-link and flexible-link manipulators. The design of the dynamical controller is based on construction of a two-time scale dynamical motion of the closed-loop system. Furthermore, other conventional control methods such as the PD control, computed torque, and localization methods are investigated for comparison purposes. The main control objective is to achieve stability of the closed-loop system while ensuring boundedness of all the control signals as well as sufficiently small tip-position tracking requirement. In order to achieve a minimum phase behaviour for utilizing output feedback control strategy, a new redefined output is proposed. Instead of using the joint angles as outputs in the rigid-link case, a new output is chosen for the flexible-link case which will provide and guarantee stability of the closed-loop flexible system. Simulations results are provided for both the rigid-link and flexible-link manipulators using the proposed control strategies. A comparative analysis is also included to demonstrate and illustrate the advantages and disadvantages of the considered control methodologies.
Download or read book Flexible link Robot Manipulators written by M. Moallem and published by Springer. This book was released on 2014-03-12 with total page 161 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is concerned with the development and implementation of nonlinear mathematical techniques for feedback control and shape design of robot manipulators whose links have considerable structural flexibility. Several nonlinear control and observation techniques are studied and implemented by simulations and experiments in a laboratory setup. These techniques include integral manifolds in singular perturbation theory, nonlinear input-output decoupling, nonlinear observers and sliding control. The study of dynamic properties and control techniques for flexible-link manipulators can also be a framework for designing the mechanical shape and material of these systems such that improved properties can be achieved in order to facilitate the control problem. Therefore, structural shape optimization is considered as a means of improving the dynamic behaviour of flexible-link manipulators.
Download or read book Control of Flexible link Manipulators Using Neural Networks written by H.A. Talebi and published by Springer Science & Business Media. This book was released on 2001-01-29 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control of Flexible-link Manipulators Using Neural Networks addresses the difficulties that arise in controlling the end-point of a manipulator that has a significant amount of structural flexibility in its links. The non-minimum phase characteristic, coupling effects, nonlinearities, parameter variations and unmodeled dynamics in such a manipulator all contribute to these difficulties. Control strategies that ignore these uncertainties and nonlinearities generally fail to provide satisfactory closed-loop performance. This monograph develops and experimentally evaluates several intelligent (neural network based) control techniques to address the problem of controlling the end-point of flexible-link manipulators in the presence of all the aforementioned difficulties. To highlight the main issues, a very flexible-link manipulator whose hub exhibits a considerable amount of friction is considered for the experimental work. Four different neural network schemes are proposed and implemented on the experimental test-bed. The neural networks are trained and employed as online controllers.
Download or read book Nonlinear Control for Two Link Flexible Manipulator written by Mohamed Ibrahim Shalaby and published by . This book was released on 2017 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: Recently the use of robot manipulators has been increasing in many applications such as medical applications, automobile, construction, manufacturing, military, space, etc. However, current rigid manipulators have high inertia and use actuators with large energy consumption. Moreover, rigid manipulators are slow and have low payload-to arm-mass ratios because link deformation is not allowed. The main advantages of flexible manipulators over rigid manipulators are light in weight, higher speed of operation, larger workspace, smaller actuator, lower energy consumption and lower cost. However, there is no adequate closed-form solutions exist for flexible manipulators. This is mainly because flexible dynamics are modeled with partial differential equations, which give rise to infinite dimensional dynamical systems that are, in general, not possible to represent exactly or efficiently on a computer which makes modeling a challenging task. In addition, if flexibility nature wasn’t considered, there will be calculation errors in the calculated torque requirement for the motors and in the calculated position of the end-effecter. As for the control task, it is considered as a complex task since flexible manipulators are non-minimum phase system, under-actuated system and Multi-Input/Multi-Output (MIMO) nonlinear system. This thesis focuses on the development of dynamic formulation model and three control techniques aiming to achieve accurate position control and improving dynamic stability for Two-Link Flexible Manipulators (TLFMs). LQR controller is designed based on the linearized model of the TLFM; however, it is applied on both linearized and nonlinear models. In addition to LQR, Backstepping and Sliding mode controllers are designed as nonlinear control approaches and applied on both the nonlinear model of the TLFM and the physical system. The three developed control techniques are tested through simulation based on the developed dynamic formulation model using MATLAB/SIMULINK. Stability and performance analysis were conducted and tuned to obtain the best results. Then, the performance and stability results obtained through simulation are compared. Finally, the developed control techniques were implemented and analyzed on the 2-DOF Serial Flexible Link Robot experimental system from Quanser and the results are illustrated and compared with that obtained through simulation.
Download or read book H Infinity Symbol Control of Flexible Link Robot Manipulators written by Sylvain Dindy-Bolongo and published by . This book was released on 1996 with total page 382 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robust Control Algorithms for Flexible Manipulators written by Kshetrimayum Lochan and published by CRC Press. This book was released on 2024-10-13 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
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 Nonlinear Control Techniques for Robot Manipulators Nonlinear Control of Mechatronic Systems with Applications in Robotics written by Nitendra Nath and published by VDM Publishing. This book was released on 2008-04 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes the design and implementation of control strategies for the following topics: i) Whole-arm-grasping control for redundant robot manipulators, ii) Neural network grasping controller for continuum robots, and iii) Coordination control for haptic and teleoperator systems. A kinematic control, for whole-arm grasping of objects using redundant robot manipulators, which facilitates the encoding of both the end-effector position, as well as body self-motion positioning information as a desired trajectory signal for the manipulator joints is presented along with experimental results. An approach to whole-arm grasping control for hyper-redundant robots or continuum robots, is also illustrated. The grasping controller, developed in two stages; high level path planning for the grasping objective, and a low level joint controller using a neural network feedforward component to compensate for dynamic uncertainties, is presented along with some experimental results. Additionally, two controllers, developed for nonlinear haptic and teleoperator systems, are presented. The controllers ensure the tracking and coordination between the systems. Experimental results are included.
Download or read book Advances in Applied Nonlinear Optimal Control written by Gerasimos Rigatos and published by Cambridge Scholars Publishing. This book was released on 2020-11-19 with total page 741 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume discusses advances in applied nonlinear optimal control, comprising both theoretical analysis of the developed control methods and case studies about their use in robotics, mechatronics, electric power generation, power electronics, micro-electronics, biological systems, biomedical systems, financial systems and industrial production processes. The advantages of the nonlinear optimal control approaches which are developed here are that, by applying approximate linearization of the controlled systems’ state-space description, one can avoid the elaborated state variables transformations (diffeomorphisms) which are required by global linearization-based control methods. The book also applies the control input directly to the power unit of the controlled systems and not on an equivalent linearized description, thus avoiding the inverse transformations met in global linearization-based control methods and the potential appearance of singularity problems. The method adopted here also retains the known advantages of optimal control, that is, the best trade-off between accurate tracking of reference setpoints and moderate variations of the control inputs. The book’s findings on nonlinear optimal control are a substantial contribution to the areas of nonlinear control and complex dynamical systems, and will find use in several research and engineering disciplines and in practical applications.
Download or read book Adaptive Control of Nonlinear Discrete time Systems and Its Application to Control of a Flexible link Manipulator written by Mohammad Reza Rokui and published by . This book was released on 1997 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objectives of this research work are to develop direct and indirect adaptive control strategies for discrete-time nonlinear systems and to investigate the applicability of the proposed schemes to adaptive tracking control of a flexible-link manipulator. The first problem considered is indirect adaptive control of a fully as well as a partially input-output feedback linearizable n th order affine SISO nonlinear system represented in the state-space form. The objective is to make the output y (k) track a reference trajectory y m (k) despite the fact that the parameters of the system are unknown. Towards this end, a local diffeomorphism for the change of coordinates and a nonlinear feedback control law are obtained so that the nonlinear system is rendered input to output equivalent into a linear system. The resulting linear system is then used to solve the output tracking control problem using conventional linear control theory. A multi-output recursive-least-square (RLS) algorithm is employed to identify the unknown parameters. Using the Lyapunov technique it is shown that provided the zero dynamics is exponentially stable the adaptively controlled closed-loop system is stable. The second problem addressed is the direct adaptive tracking control problem of a class of SIS 0 discrete-time nonlinear systems represented in the input-output form. To solve the problem, the state-space model is first derived and the appropriate control input is obtained. By employing the projection algorithm as a parameter estimator, the closed-loop stability of the adaptively controlled system is addressed using Lyapunov technique. As an application, the indirect adaptive control strategy is employed to control a single link flexible manipulator. Towards this end, the discrete-time model of the manipulator and its zero dynamics are derived first. By using the output re-definition technique, the adaptive input-output linearization scheme is then applied. The regressor form of the link's dynamic equations is also developed for the multi-output RLS identification algorithm. The performance of the adaptively controlled closed-loop system is investigated through numerical simulations to show the advantages and the main features of the proposed strategy. Finally to evaluate the performance of the proposed controller, an experimental test-bed of a single-link flexible manipulator is used for implementation. The real-time controller and estimator are implemented on a TMS system board which uses a TMS320C30 Digital Signal Processing (DSP) chip. The actual results are then compared with the simulation results to verify and validate the theoretical findings.
Download or read book Robust Control Algorithms for Two link Flexible Manipulators written by Kshetrimayum Lochan and published by CRC Press. This book was released on 2024-10-13 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
Download or read book Backstepping Control of Nonlinear Dynamical Systems written by Sundarapandian Vaidyanathan and published by Academic Press. This book was released on 2020-08-15 with total page 542 pages. Available in PDF, EPUB and Kindle. Book excerpt: Backstepping Control of Nonlinear Dynamical Systems addresses both the fundamentals of backstepping control and advances in the field. The latest techniques explored include ‘active backstepping control’, ‘adaptive backstepping control’, ‘fuzzy backstepping control’ and ‘adaptive fuzzy backstepping control’. The reference book provides numerous simulations using MATLAB and circuit design. These illustrate the main results of theory and applications of backstepping control of nonlinear control systems. Backstepping control encompasses varied aspects of mechanical engineering and has many different applications within the field. For example, the book covers aspects related to robot manipulators, aircraft flight control systems, power systems, mechanical systems, biological systems and chaotic systems. This multifaceted view of subject areas means that this useful reference resource will be ideal for a large cross section of the mechanical engineering community. Details the real-world applications of backstepping control Gives an up-to-date insight into the theory, uses and application of backstepping control Bridges the gaps for different fields of engineering, including mechanical engineering, aeronautical engineering, electrical engineering, communications engineering, robotics and biomedical instrumentation
Download or read book Control and Design of Flexible link Manipulators written by Concordia University and published by 1996.. This book was released on 1996 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control of a Manipulator with a Flexible Link written by Institute for Computer Applications in Science and Engineering and published by . This book was released on 1988 with total page 24 pages. Available in PDF, EPUB and Kindle. Book excerpt: An adaptive controller for a manipulator with one rigid link and one flexible link is presented. The performance and robustness of the controller are demonstrated by numerical simulation results. In the simulations, the manipulator moves in a gravitational field and a finite element model represents the flexible link. Keywords: Adaptive control, Robot, Flexible link.
Download or read book Nonlinear Control of Rigid link Flexible joint Robot Manipulators written by Michael Murphy Bridges and published by . This book was released on 1994 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt:
