Robust Variable Structure Control for Rigid Robotic Manipulators PDF Download

Author: Zhihong Man
Publisher:
ISBN:
Category : Nonlinear control theory
Languages : en
Pages : 478

View

Book Description

Author: Wing Kin Yan
Publisher:
ISBN:
Category : Manipulators
Languages : en
Pages : 280

View

Book Description

Author: Mehmet Nur Alpaslan Parlakçı
Publisher:
ISBN:
Category : Automatic control
Languages : en
Pages : 550

View

Book Description
In this thesis, several types of new robust variable structure controller design methods are developed for the position and tracking control of robot manipulators with parameter perturbations. In order to design a set-point regulator for robot manipulators, first a new relay type variable structure control algorithm with parameter perturbations is introduced by employing the well-known equivalent control method. Secondly, the relay type sliding mode control design is slightly modified by utilizing an equivalent control-like method. For the case that exact robot dynamics knowledge is unavailable, a robust relay type variable structure control scheme is devised. Utilizing a different point of view, a new PD variable structure control law with equivalent control method is proposed for set-point regulation under full robot dynamics knowledge. Finally, for the case of unknown robot dynamics parameters, a robust PD variable structure tracking control design is developed. A vast number of simulation results verified the effectiveness of the newly developed variable structure controller design techniques. The performance of each of investigated control systems is evaluated in terms of transient and steady state response specifications.

Author: Fei-Yue Wang
Publisher: World Scientific
ISBN: 9789812796721
Category : Technology & Engineering
Languages : en
Pages : 464

View

Book Description
Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators. Sample Chapter(s). Chapter 1: Flexible-link Manipulators: Modeling, Nonlinear Control and Observer (235 KB). Contents: Flexible-Link Manipulators: Modeling, Nonlinear Control and Observer (M A Arteaga & B Siciliano); Energy-Based Control of Flexible Link Robots (S S Ge); Trajectory Planning and Compliant Control for Two Manipulators to Deform Flexible Materials (O Al-Jarrah et al.); Force Control of Flexible Manipulators (F Matsuno); Experimental Study on the Control of Flexible Link Robots (D Wang); Sensor Output Feedback Control of Flexible Robot Arms (Z-H Luo); On GA Based Robust Control of Flexible Manipulators (Z-Q Xiao & L-L Cui); Analysis of Poles and Zeros for Tapered Link Designs (D L Girvin & W J Book); Optimum Shape Design of Flexible Manipulators with Tip Loads (J L Russell & Y-Q Gao); Mechatronic Design of Flexible Manipulators (P-X Zhou & Z-Q Xiao); A Comprehensive Study of Dynamic Behaviors of Flexible Robotic Links: Modeling and Analysis (Y-Q Gao & F-Y Wang). Readership: Researchers, lecturers and graduate students in robotics & automated systems, electrical & electronic engineering, and industrial engineering

Author: Jian Huang
Publisher: Springer Nature
ISBN: 9811971579
Category : Technology & Engineering
Languages : en
Pages : 123

View

Book Description
This book presents the achievements of the author's team in the research of a special underactuated system called mobile wheeled inverted pendulum (MWIP) developed over recent years. It focuses on a combination of theory and practice, and almost all algorithms are verified on the real MWIP system. Taking the dynamic modeling, control, and simulation as the mainline, this book first introduces the particularity, control challenges, and applications of the MWIP system. Then, Lagrange function is adopted to model the dynamics of two-dimensional and three-dimensional MWIP systems. Then, based on the special characteristics of the MWIP’s dynamics, a new high-order disturbance observer is designed, and a control strategy is proposed by combining the high-order disturbance observer with a novel design of sliding mode manifold. Furthermore, several methods to overcome the chattering problem of the traditional sliding mode control are presented in detail. Besides, some intelligent algorithms related to the interval type-2 fuzzy logic control are applied to the MWIP system. Finally, the future development of underactuated robot has been prospected.This book is intended for researchers and engineers in robotics and control. It can also be used as supplementary reading for nonlinear systems theory at the graduate level. The in-depth theory and detailed platform construction provide an excellent convenience for readers to build their platforms and learn the knowledge they need.

Author: Dan Zhang
Publisher: CRC Press
ISBN: 1351678922
Category : Science
Languages : en
Pages : 407

View

Book Description
The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.

Author: Xing Huo Yu
Publisher: World Scientific
ISBN: 9789810244644
Category : Technology & Engineering
Languages : en
Pages : 556

View

Book Description
The last of such a workshop on VSS in the 20th Century, the theme of this workshop is Intelligent Systems with Variable Structure, which aims to summarize the state-of-the-art in VSS as well as to revamp VSS into a forward-looking research field in the 21 st Century. The emerging trend of cross-fertilization and integration of VSS with other control and non-control areas such as robust control, adaptive control, nonlinear control, identification, modelling, optimization, artificial intelligence, neural networks, and fuzzy logic, etc. will continue and flourish in the new century.

Author: Jawhar Ghommam
Publisher: Springer Nature
ISBN: 981151819X
Category : Technology & Engineering
Languages : en
Pages : 382

View

Book Description
This book presents solutions to control problems in a number of robotic systems and provides a wealth of worked-out examples with full analytical and numerical details, graphically illustrated to aid in reader comprehension. It also presents relevant studies on and applications of robotic system control approaches, as well as the latest findings from interdisciplinary theoretical studies. Featuring chapters on advanced control (fuzzy, neural, backstepping, sliding mode, adaptive, predictive, diagnosis, and fault-tolerant control), the book will equip readers to easily tailor the techniques to their own applications. Accordingly, it offers a valuable resource for researchers, engineers, and students in the field of robotic systems.

Author: Kar-Keung David Young
Publisher:
ISBN:
Category : Automatic control
Languages : en
Pages : 340

View

Book Description

Author: Sam Shuzhi Ge
Publisher: World Scientific
ISBN: 9814496227
Category : Technology & Engineering
Languages : en
Pages : 397

View

Book Description
Recently, there has been considerable research interest in neural network control of robots, and satisfactory results have been obtained in solving some of the special issues associated with the problems of robot control in an “on-and-off” fashion. This book is dedicated to issues on adaptive control of robots based on neural networks. The text has been carefully tailored to (i) give a comprehensive study of robot dynamics, (ii) present structured network models for robots, and (iii) provide systematic approaches for neural network based adaptive controller design for rigid robots, flexible joint robots, and robots in constraint motion. Rigorous proof of the stability properties of adaptive neural network controllers is provided. Simulation examples are also presented to verify the effectiveness of the controllers, and practical implementation issues associated with the controllers are also discussed.