Disturbance Observer-based Robust Control and Its Applications: 35th Anniversary Overview

Disturbance Observer has been one of the most widely used robust control tools since it was proposed in 1983. This paper introduces the origins of Disturbance Observer and presents a survey of the major results on Disturbance Observer-based robust control in the last thirty-five years. Furthermore, it explains the analysis and synthesis techniques of Disturbance Observer-based robust control for linear and nonlinear systems by using a unified framework. In the last section, this paper presents concluding remarks on Disturbance Observer-based robust control and its engineering applications.Comment: 12 pages, 4 figure

Advanced Strategies for Robot Manipulators

Amongst the robotic systems, robot manipulators have proven themselves to be of increasing importance and are widely adopted to substitute for human in repetitive and/or hazardous tasks. Modern manipulators are designed complicatedly and need to do more precise, crucial and critical tasks. So, the simple traditional control methods cannot be efficient, and advanced control strategies with considering special constraints are needed to establish. In spite of the fact that groundbreaking researches have been carried out in this realm until now, there are still many novel aspects which have to be explored

Fault-tolerant scheme for robotic manipulator -Nonlinear robust back-stepping control with friction compensation

Emerging applications of autonomous robots requiring stability and reliability cannot afford component failure to achieve operational objectives. Hence, identification and countermeasure of a fault is of utmost importance in mechatronics community. This research proposes a Fault-tolerant control (FTC) for a robot manipulator, which is based on a hybrid control scheme that uses an observer as well as a hardware redundancy strategy to improve the performance and efficiency in the presence of actuator and sensor faults. Considering a five Degree of Freedom (DoF) robotic manipulator, a dynamic LuGre friction model is derived which forms the basis for design of control law. For actuator's and sensor's FTC, an adaptive back-stepping methodology is used for fault estimation and the nominal control law is used for the controller reconfiguration and observer is designed. Fault detection is accomplished by comparing the actual and observed states, pursued by fault tolerant method using redundant sensors. The results affirm the effectiveness of the proposed FTC strategy with model-based friction compensation. Improved tracking performance as well robustness in the presence of friction and fault demonstrate the efficiency of the proposed control approach

Proceedings of the NASA Conference on Space Telerobotics, volume 4

Papers presented at the NASA Conference on Space Telerobotics are compiled. The theme of the conference was man-machine collaboration in space. The conference provided a forum for researchers and engineers to exchange ideas on the research and development required for the application of telerobotic technology to the space systems planned for the 1990's and beyond. Volume 4 contains papers related to the following subject areas: manipulator control; telemanipulation; flight experiments (systems and simulators); sensor-based planning; robot kinematics, dynamics, and control; robot task planning and assembly; and research activities at the NASA Langley Research Center

Robot Manipulators

Robot manipulators are developing more in the direction of industrial robots than of human workers. Recently, the applications of robot manipulators are spreading their focus, for example Da Vinci as a medical robot, ASIMO as a humanoid robot and so on. There are many research topics within the field of robot manipulators, e.g. motion planning, cooperation with a human, and fusion with external sensors like vision, haptic and force, etc. Moreover, these include both technical problems in the industry and theoretical problems in the academic fields. This book is a collection of papers presenting the latest research issues from around the world

Safe-guarded multi-agent control for mechatronic systems: implementation framework and design patterns

This thesis addresses two issues: (i) developing an implementation framework for Multi-Agent Control Systems (MACS); and (ii) developing a pattern-based safe-guarded MACS design method.\ud \ud The Multi-Agent Controller Implementation Framework (MACIF), developed by Van Breemen (2001), is selected as the starting point because of its capability to produce MACS for solving complex control problems with two useful features:\ud • MACS is hierarchically structured in terms of a coordinated group of elementary and/or composite controller-agents;\ud • MACS has an open architecture such that controller-agents can be added, modified or removed without redesigning and/or reprogramming the remaining part of the MACS

Proceedings of the Fifth NASA/NSF/DOD Workshop on Aerospace Computational Control

The Fifth Annual Workshop on Aerospace Computational Control was one in a series of workshops sponsored by NASA, NSF, and the DOD. The purpose of these workshops is to address computational issues in the analysis, design, and testing of flexible multibody control systems for aerospace applications. The intention in holding these workshops is to bring together users, researchers, and developers of computational tools in aerospace systems (spacecraft, space robotics, aerospace transportation vehicles, etc.) for the purpose of exchanging ideas on the state of the art in computational tools and techniques

Aerospace medicine and biology: A continuing bibliography with indexes (supplement 344)

This bibliography lists 125 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during January, 1989. Subject coverage includes: aerospace medicine and psychology, life support systems and controlled environments, safety equipment, exobiology and extraterrestrial life, and flight crew behavior and performance