Swing-up and Balancing Control of Underactuated Robotic Systems PDF Download

Author: Kangsik Lee
Publisher:
ISBN:
Category :
Languages : en
Pages : 294

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Author: Xin Xin
Publisher: Springer Science & Business Media
ISBN: 144716251X
Category : Technology & Engineering
Languages : en
Pages : 326

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Book Description
The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs. Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design and analysis presented in a systematic way particularly for the following examples: l directly and remotely driven Acrobots l Pendubot l rotational pendulum l counter-weighted Acrobot 2-link underactuated robot with flexible elbow joint l variable-length pendulum l 3-link gymnastic robot with passive first joint l n-link planar robot with passive first joint l n-link planar robot with passive single joint double, or two parallel pendulums on a cart l 3-link planar robots with underactuation degree two 2-link free flying robot The theoretical developments are validated by experimental results for the remotely driven Acrobot and the rotational pendulum. Control Design and Analysis for Underactuated Robotic Systems is intended for advanced undergraduate and graduate students and researchers in the area of control systems, mechanical and robotics systems, nonlinear systems and oscillation. This text will not only enable the reader to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the reader to address the challenges of more complex URSs.

Author: Luke B. Johnson
Publisher:
ISBN:
Category :
Languages : en
Pages : 22

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The field of underactuated robotics has become the core of agile mobile robotics research. Significant past effort has been put into understanding the swing-up control of the acrobot system. This thesis implements an online, adaptive swing-up and balancing controller with no previous knowledge of the system's mass or geometric parameters. A least squares method is used to identify the 5 parameters necessary to completely characterize acrobot dynamics. Swing up is accomplished using partial feedback linearization and a pump up strategy to add energy to the system. The controller then catches the swung up system in the basin of attraction of an LQR controller computed using the estimated parameter values generated from online system identification. These results are then simulated using a MATLAB simulation environment.

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

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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: Nilay Kant
Publisher:
ISBN:
Category : Electronic dissertations
Languages : en
Pages : 159

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Book Description
Robots have become increasingly popular due to their ability to perform complex tasks and operate in unknown and hazardous environments. Many robotic systems are underactuated i.e., they have fewer control inputs than their degrees-of-freedom (DOF). Common examples of underactuated robotic systems are legged robots such as bipeds, flying robots such as quadrotors, and swimming robots. Due to limited control authority, underactuated systems are prone to instability. This work includes impulsive inputs in the set of admissible controls to address several challenging control problems. It has already been shown that continuous-time approximation of impulsive inputs can be realized in physical hardware using high-gain feedback.Stabilization of an equilibrium point is an important control problem for underactuated systems. The ability of the system to remain stable in the presence of disturbances depends on the size of the region of attraction of the stabilized equilibrium. The sum of squares and trajectory reversing methods are combined to generate a large estimate of the region of attraction. This estimate is then effectively enlarged by applying the impulse manifold method to stabilize equilibria from points lying outside the estimated region of attraction. Simulation results are provided for a three-DOF tiptoebot and experimental validation is carried out on a two-DOF pendubot. Impulsive inputs are also utilized to control the underactuated inertia-wheel pendulum (IWP). When subjected to impulsive inputs, the dynamics of the IWP can be described by algebraic equations. Optimal sequences of inputs are designed to achieve rest-to-rest maneuvers and the results are applied to the swing-up control problem. The novel problem of juggling a devil-stick using impulsive inputs is also investigated. Impulsive forces are applied to the stick intermittently and the impulse of the force and its point of application are modeled as inputs to the system. A dead-beat design for one of the inputs simplifies the control problem and results in a discrete linear time invariant system. To achieve symmetric juggling, linear quadratic regulator (LQR) and model predictive control (MPC) based designs are proposed and validated through simulations.A repetitive motion is described by closed orbits and therefore, stabilization of closed orbits is important for many applications such as bipedal walking and steady swimming. We first investigate the problem of energy-based orbital stabilization using continuous inputs and intermittent impulsive braking. The orbit is a manifold where the active generalized coordinates are fixed and the total mechanical energy of the system is equal to some desired value. Simulation and experimental results are provided for the tiptoebot and the rotary pendulum, respectively. The problem of orbital stabilization using virtual holonomic constraints (VHC) is also investigated. VHCs are enforced using a continuous controller which guarantees existence of closed orbits. A Poincare section is constructed on the desired orbit and the orbit is stabilized using impulsive inputs which are applied intermittently when the system trajectory crosses the Poincare section. This approach to orbital stabilization is general, and has lower complexity and computational cost than control designs proposed earlier.

Author: Jundong Wu
Publisher: Springer Nature
ISBN: 9819908906
Category : Technology & Engineering
Languages : en
Pages : 304

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This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.

Author: Isabelle Fantoni
Publisher: Springer Science & Business Media
ISBN: 1447101774
Category : Technology & Engineering
Languages : en
Pages : 302

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This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model. It will help readers gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.

Author:
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Author: Wankun Sirichotiyakul
Publisher:
ISBN:
Category : Nonlinear control theory
Languages : en
Pages : 0

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"Classical control strategies for robotic systems are based on the idea that feedback control can be used to override the natural dynamics of the machines. Passivity-based control (Pbc) is a branch of nonlinear control theory that follows a similar approach, where the natural dynamics is modified based on the overall energy of the system. This method involves transforming a nonlinear control system, through a suitable control input, into another fictitious system that has desirable stability characteristics. The majority of Pbc techniques require the discovery of a reasonable storage function, which acts as a Lyapunov function candidate that can be used to certify stability. There are several challenges in the design of a suitable storage function, including: 1) what a reasonable choice for the function is for a given control system, and 2) the control synthesis requires a closed-form solution to a set of nonlinear partial differential equations. The latter is in general difficult to overcome, especially for systems with high degrees of freedom, limiting the applicability of Pbc techniques. A machine learning framework that automatically determines the storage function for underactuated robotic systems is introduced in this dissertation. This framework combines the expressive power of neural networks with the systematic methods of the Pbc paradigm, bridging the gap between controllers derived from learning algorithms and nonlinear control theory. A series of experiments demonstrates the efficacy and applicability of this framework for a family of underactuated robots."--Boise State University ScholarWorks.

Author: Xiaoqing Ma
Publisher:
ISBN:
Category : Fuzzy algorithms
Languages : en
Pages : 0

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Control of under-actuated mechanical systems (robots) represents an important class of control problem. This thesis studies several related control problems associated with an under-actuated robot, Pendubot, from the point view of fuzzy logic control. To swing up the Pendubot from a rest position to the upright configuration, a fuzzy algorithm is proposed from non-complete sets of linguistic rules that link some mechanism states to the sign of a single control action. Therein, a simplified Tsukamoto's reasoning method and quasi-linear-mean aggregating operators are used to derive and analyze the controller input-out mappings. In order to balance the Pendubot at the unstable upright top configuration after swinging up, another simple fuzzy controller is derived according to its joint states: This combining fuzzy algorithm for swinging-up and balancing is successfully applied to the Pendubot. This thesis also investigates the case that the Pendubot tracks a desired signal and a corresponding fuzzy scheme is proposed, which combines the linear regulator theory with the Takagi-Sugeno fuzzy methodology. The stability and stability conditions for this fuzzy scheme are analyzed. Numerical simulations for all the above controllers are carried out to validate the theoretical analysis by using SIMULINK. Finally, the hardware experiments in the Pendubot have successfully been conducted in the Robotics and Mechatronics Laboratory.