Search results for "Control"
showing 10 items of 13168 documents
Adaptive control of uncertain nonlinear systems with quantized input signal
2018
Abstract This paper proposes new adaptive controllers for uncertain nonlinear systems in the presence of input quantization. The control signal is quantized by a class of sector-bounded quantizers including the uniform quantizer, the logarithmic quantizer and the hysteresis quantizer. To clearly illustrate our approaches, we will start with a class of single-loop nonlinear systems and then extend the results to multi-loop interconnected nonlinear systems. By using backstepping technique, a new adaptive control algorithm is developed by constructing a new compensation method for the effects of the input quantization. A hyperbolic tangent function is introduced in the controller with a new tr…
Decentralized Adaptive Control for Interconnected Nonlinear Systems with Input Quantization
2017
Abstract In this paper, a decentralized adaptive control scheme is proposed for a class of uncertain nonlinear interconnected systems with input quantization. A hysteresis uniform quantization is introduced to reduce chattering. In the control design, a smooth function is introduced with backstepping technique to compensate for the effects of interactions. It is shown that the proposed decentralized adaptive controllers can ensure global boundedness of all the signals in the closed-loop interconnected systems and the tracking errors of subsystem converge to a residual, which can be adjusted by choosing suitable design parameters. Simulation results illustrate the effectiveness of the propos…
Adaptive Backstepping Control of Nonlinear Uncertain Systems With Quantized States
2019
This paper investigates the stabilization problem for uncertain nonlinear systems with quantized states. All states in the system are quantized by a static bounded quantizer, including uniform quantizer, hysteresis-uniform quantizer, and logarithmic-uniform quantizer as examples. An adaptive backstepping-based control algorithm, which can handle discontinuity, resulted from the state quantization and a new approach to stability analysis are developed by constructing a new compensation scheme for the effects of the state quantization. Besides showing the global ultimate boundedness of the system, the stabilization error performance is also established and can be improved by appropriately adj…
Adaptive Feedforward Control of a Pressure Compensated Differential Cylinder
2020
This paper presents the design, simulation and experimental verification of adaptive feedforward motion control for a hydraulic differential cylinder. The proposed solution is implemented on a hydraulic loader crane. Based on common adaptation methods, a typical electro-hydraulic motion control system has been extended with a novel adaptive feedforward controller that has two separate feedforward states, i.e, one for each direction of motion. Simulations show convergence of the feedforward states, as well as 23% reduction in root mean square (RMS) cylinder position error compared to a fixed gain feedforward controller. The experiments show an even more pronounced advantage of the proposed c…
Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots
2020
Soft robots have been extensively studied for their ability to provide both good performance and safe human-robot interaction. In this paper, we present and compare the performance of two model-based control techniques with the common aim to independently and simultaneously control position and stiffness of a pneumatic soft robot’s joint. The dynamic system of a robot arm with flexible joints actuated by a pneumatic antagonistic pair of actuators, so-called McKibben artificial muscles, will be regarded, while its dynamic parameters will be considered imprecise. Simulation results are provided to verify the performance of the algorithms.
Adaptive Control of Quantized Uncertain Nonlinear Systems
2017
Abstract This paper proposes a new adaptive controller for uncertain nonlinear systems in presence of quantized input signal and unknown external disturbance. A hysteresis quantizer is incorporated to reduce chattering phenomenon. By proposing a new transformation of the final control signal, using the sector-bound property of the quantizer and introducing a hyperbolic tangent function, the effects from input quantization and external disturbance are effectively compensated and the Lipschitz condition required for the nonlinear functions in the systems is removed. Besides showing global stability, tracking error performance is also established and can be adjusted by tuning certain design pa…
Making Industrial Robots Smarter with Adaptive Reasoning and Autonomous Thinking for Real-Time Tasks in Dynamic Environments: A Case Study
2018
In order to extend the abilities of current robots in industrial applications towards more autonomous and flexible manufacturing, this work presents an integrated system comprising real-time sensing, path-planning and control of industrial robots to provide them with adaptive reasoning, autonomous thinking and environment interaction under dynamic and challenging conditions. The developed system consists of an intelligent motion planner for a 6 degrees-of-freedom robotic manipulator, which performs pick-and-place tasks according to an optimized path computed in real-time while avoiding a moving obstacle in the workspace. This moving obstacle is tracked by a sensing strategy based on ma-chin…
Analysis of hybrid vehicle transmissions with any number of modes and planetary gearing: kinematics, power flows, mechanical power losses
2021
Abstract This paper is focused on upgrading a unified parametric model, available in the literature, that can perform both the analysis and the design of Power-Split Continuously Variable Transmissions (PS-CVTs), which are particularly promising to deploy in the hybrid electric powertrain. In particular, this work is focused on the analysis of PS-CVTs and proposes a new matrix approach for identifying the basic functional parameters underlying the model from the constructive layout of the transmission. This new method does not rely on a case-specific formulation, thus befits any power-split transmission, regardless of the number of planetary and ordinary gear sets and their constructive arr…
Adaptive Robot Control – An Experimental Comparison
2012
This paper deals with experimental comparison between stable adaptive controllers of robotic manipulators based on Model Based Adaptive, Neural Network and Wavelet -Based control. The above control methods were compared with each other in terms of computational efficiency, need for accurate mathematical model of the manipulator and tracking performances. An original management algorithm of the Wavelet Network control scheme has been designed, with the aim of constructing the net automatically during the trajectory tracking, without the need to tune it to the trajectory itself. Experimental tests, carried out on a planar two link manipulator, show that the Wavelet-Based control scheme, with…
Optimality Conditions for Non-Qualified Parabolic Control Problems
1994
We consider parabolic state constrained optimal control problems where the usual Slater condition is not necessarily satisfied. Instead, a weaker interiority property is assumed. Optimality conditions with a Lagrange multiplier are given. As an application we present an augmented Lagrangian algorithm. Numerical test results are included.