4.7 Article

Stability and Fast Transient Performance Oriented Motion Control of a Direct-Drive System With Modeling Uncertainties, Velocity, and Input Constraints

Related references

Note: Only part of the references are listed.
Article Automation & Control Systems

A Predictive Technique for the Real-Time Trajectory Scaling Under High-Order Constraints

Corrado Guarino Lo Bianco et al.

Summary: Recent research has focused on planning techniques for real-time trajectory generation and modification in robotic systems to react to unexpected environmental events. One approach utilizes nonlinear filters to efficiently manage constraints up to torque derivatives while maintaining compatibility with modern control systems. The proposed technique has been validated through simulations and real experiments, with comparisons made to other algorithms and scaling systems.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2022)

Article Automation & Control Systems

Nonsingular Fast Terminal Sliding Mode Control for Permanent Magnet Linear Synchronous Motor via High-Order Super-Twisting Observer

Dezhi Xu et al.

Summary: In this article, a nonsingular fast terminal sliding mode (NFTSM) control strategy based on the high-order super-twisting observer (HOSTO) is proposed for precise position regulation of permanent magnet linear synchronous motor. The proposed control strategy utilizes HOSTO to estimate the system state information and achieves stability using Lyapunov stability theory. Real-time experiments demonstrate the efficiency and superiority of the proposed control strategy.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2022)

Article Automation & Control Systems

Output feedback adaptive super-twisting sliding mode control of hydraulic systems with disturbance compensation

Xiaowei Yang et al.

Summary: This paper proposes an output feedback adaptive super-twisting sliding mode controller for hydraulic systems with unmodeled disturbances, utilizing an extended state observer to estimate unmeasured system states and disturbances. The controller is continuous, chattering-free, and ensures asymptotic stability with constant disturbances, ultimately achieving bounded tracking performance for time-variant disturbances. Experimental results validate the effectiveness of the developed approach.

ISA TRANSACTIONS (2021)

Article Engineering, Mechanical

Recursive sliding mode control with adaptive disturbance observer for a linear motor positioner

Ke Shao et al.

Summary: A robust recursive sliding mode controller combined with an adaptive disturbance observer (RSM-ADO) is proposed in this paper for high-speed and high-precision control of a linear motor (LM) positioner. The proposed method eliminates the reaching phase and allows the tracking error to converge to zero in finite time. Lyapunov analysis is used to prove the finite time convergence of the tracking error under the proposed RSM-ADO control scheme.

MECHANICAL SYSTEMS AND SIGNAL PROCESSING (2021)

Article Automation & Control Systems

Tracking Control of a Linear Motor Positioner Based on Barrier Function Adaptive Sliding Mode

Ke Shao et al.

Summary: This article presents a robust tracking controller based on barrier function adaptive sliding mode (BFASM) for LM positioners, which effectively overcomes the issues of control oscillation or actuator saturation that traditional controllers face when disturbances decrease. Experimental results demonstrate the superior performance of the developed controller on a real LM positioner, ensuring the convergence of tracking error to zero in finite time.

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS (2021)

Article Automation & Control Systems

Accurate Motion Control of a Direct-Drive Hydraulic System With an Adaptive Nonlinear Pump Flow Compensation

Bobo Helian et al.

Summary: Direct-driven electro-hydraulic systems have energy-saving and control flexibility advantages, but limited control accuracy due to nonlinear hydraulic dynamics and pump flow nonlinearity. This article proposes an adaptive robust motion control strategy with polynomial fitting model compensation for precise motion control, demonstrating advantages in stability and parameter estimation.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021)

Article Automation & Control Systems

Adaptive Time-Delay Control for Cable-Driven Manipulators With Enhanced Nonsingular Fast Terminal Sliding Mode

Yaoyao Wang et al.

Summary: In this study, a new adaptive time-delay control algorithm is proposed for cable-driven manipulators, which combines enhanced nonsingular fast terminal sliding mode control and adaptive control gain to achieve high performance. By improving time-delay estimation and model structure, model-free control is realized, resulting in improved response speed and control accuracy.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2021)

Article Automation & Control Systems

Adaptive Robust Tracking Control for Hybrid Models of Three-Dimensional Bipedal Robotic Walking Under Uncertainties

Yan Gu et al.

Summary: This study presents an adaptive robust trajectory tracking controller design to achieve stable bipedal robotic walking under uncertainties by incorporating multiple Lyapunov functions into control design. Simulation results validate the effectiveness of the proposed approach in walking stabilization under uncertainties.

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME (2021)

Article Automation & Control Systems

Adaptive Fuzzy Full-State and Output-Feedback Control for Uncertain Robots With Output Constraint

Xinbo Yu et al.

Summary: This article introduces an adaptive fuzzy full-state feedback control approach for robotic systems with uncertainties, estimating unknown states using a high-gain observer and designing control schemes with output constraint. The effectiveness of the proposed methods is demonstrated through simulation examples and experimental results, showing practicality in applications like in Baxter robot.

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS (2021)

Article Automation & Control Systems

Fast and Accurate Motion Tracking of a Linear Motor System Under Kinematic and Dynamic Constraints: An Integrated Planning and Control Approach

Mingxing Yuan et al.

Summary: The paper proposes a two-loop control structure for achieving fast transient response and high steady-state tracking accuracy, using an online trajectory replanning algorithm in the outer loop and an adaptive robust controller in the inner loop. Experimental results demonstrate that the proposed control structure can achieve optimal control performance while satisfying system constraints.

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY (2021)

Article Automation & Control Systems

Asymptotic Tracking Control of Mechanical Servosystems With Mismatched Uncertainties

Wenxiang Deng et al.

Summary: The article proposes a novel control method for mechanical servosystems to deal with mismatched uncertainties, achieving high accuracy tracking control and can be verified through comparative experiments.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021)

Article Automation & Control Systems

Asymptotic adaptive tracking control and application to mechatronic systems

Xiaowei Yang et al.

Summary: This article proposes an asymptotic tracking control strategy for uncertain nonlinear systems using adaptive-gain disturbance observer (AGDO) and integrated parametric adaptive law to address additive disturbances and parametric uncertainties, achieving improved system performance.

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS (2021)

Article Automation & Control Systems

Tracking Accuracy Improvement Based on Adaptive Nonlinear Sliding Mode Control

Wei-Che Tsai et al.

Summary: This study proposes a disturbance compensation approach based on NURBS to address the impact of friction and cogging force on the position of iron-core linear servomotors. Experimental results demonstrate that the proposed approach exhibits satisfactory performance in tracking control and disturbance compensation.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021)

Article Automation & Control Systems

RBF-Neural-Network-Based Adaptive Robust Control for Nonlinear Bilateral Teleoperation Manipulators With Uncertainty and Time Delay

Zheng Chen et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2020)

Article Automation & Control Systems

Finite-Time Control of a Linear Motor Positioner Using Adaptive Recursive Terminal Sliding Mode

Ke Shao et al.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2020)

Article Automation & Control Systems

Time-Delay Control Using a Novel Nonlinear Adaptive Law for Accurate Trajectory Tracking of Cable-Driven Robots

Yaoyao Wang et al.

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS (2020)

Article Automation & Control Systems

Event-Triggered Adaptive Control for Uncertain Constrained Nonlinear Systems With Its Application

Huihui Pan et al.

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS (2020)

Article Automation & Control Systems

Extended-State-Observer-Based Adaptive Control of Electrohydraulic Servomechanisms Without Velocity Measurement

Wenxiang Deng et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2020)

Article Automation & Control Systems

Real-Time Acceleration-Continuous Path-Constrained Trajectory Planning With Built-In Tradeoff Between Cruise and Time-Optimal Motions

Peiyao Shen et al.

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2020)

Article Automation & Control Systems

Bilateral Teleoperation of Multiple Robots Under Scheduling Communication

Yuling Li et al.

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY (2020)

Article Automation & Control Systems

Deep GRU Neural Network Prediction and Feedforward Compensation for Precision Multiaxis Motion Control Systems

Chuxiong Hu et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2020)

Article Automation & Control Systems

A General Online Trajectory Planning Framework in the Case of Desired Function Unknown in Advance

Mingxing Yuan et al.

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS (2019)

Article Automation & Control Systems

Development of Pump and Valves Combined Hydraulic System for Both High Tracking Precision and High Energy Efficiency

Litong Lyu et al.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2019)

Article Automation & Control Systems

Double Taylor Expansion-Based Real-Time Contouring Error Estimation for Multiaxis Motion Systems

Ze Wang et al.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2019)

Article Automation & Control Systems

An Improved Online Trajectory Planner With Stability-Guaranteed Critical Test Curve Algorithm for Generalized Parametric Constraints

Mingxing Yuan et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2018)

Article Automation & Control Systems

Time Optimal Contouring Control of Industrial Biaxial Gantry: A Highly Efficient Analytical Solution of Trajectory Planning

Mingxing Yuan et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2017)

Article Automation & Control Systems

Disturbance Observer-Based Adaptive Tracking Control With Actuator Saturation and Its Application

Huihui Pan et al.

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2016)

Article Automation & Control Systems

Two Time-Scale Tracking Control of Nonholonomic Wheeled Mobile Robots

Weichao Sun et al.

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY (2016)

Article Automation & Control Systems

Disturbance-Observer-Based Control and Related Methods-An Overview

Wen-Hua Chen et al.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2016)

Article Automation & Control Systems

Finite Time Control Design for Bilateral Teleoperation System With Position Synchronization Error Constrained

Yana Yang et al.

IEEE TRANSACTIONS ON CYBERNETICS (2016)

Article Automation & Control Systems

Adaptive Robust Control of DC Motors With Extended State Observer

Jianyong Yao et al.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2014)

Article Automation & Control Systems

Variable Structure Systems With Sliding Modes in Motion Control-A Survey

Asif Sabanovic

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS (2011)

Article Automation & Control Systems

Barrier Lyapunov Functions for the control of output-constrained nonlinear systems

Keng Peng Tee et al.

AUTOMATICA (2009)

Article Automation & Control Systems

From PID to Active Disturbance Rejection Control

Jingqing Han

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2009)

Article Automation & Control Systems

Desired Compensation Adaptive Robust Control

Bin Yao

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME (2009)