Model-Based Iterative Learning Control Applied to an Industrial Robot with Elasticity

In this paper model-based Iterative Learning Control (ILC) is applied to improve the tracking accuracy of an industrial robot with elasticity. The ILC algorithm iteratively updates the reference trajectory for the robot such that the predicted tracking error in the next iteration is minimised. The tracking error is predicted by a model of the closed-loop dynamics of the robot. The model includes the servo resonance frequency, the first resonance frequency caused by elasticity in the mechanism and the variation of both frequencies along the trajectory. Experimental results show that the tracking error of the robot can be reduced, even at frequencies beyond the first elastic resonance frequency

A robust loop-shaping approach to fast and accurate nanopositioning

Peer reviewedPreprin

Fuzzy-enhanced Dual-loop Control Strategy for Precise Nanopositioning

Postprin

Nonlinear normal modes, modal interactions and isolated resonance curves

The objective of the present study is to explore the connection between the nonlinear normal modes of an undamped and unforced nonlinear system and the isolated resonance curves that may appear in the damped response of the forced system. To this end, an energy balancing technique is used to predict the amplitude of the harmonic forcing that is necessary to excite a specific nonlinear normal mode. A cantilever beam with a nonlinear spring at its tip serves to illustrate the developments. The practical implications of isolated resonance curves are also discussed by computing the beam response to sine sweep excitations of increasing amplitudes.Comment: Journal pape

Online identification of a two-mass system in frequency domain using a Kalman filter

Some of the most widely recognized online parameter estimation techniques used in different servomechanism are the extended Kalman filter (EKF) and recursive least squares (RLS) methods. Without loss of generality, these methods are based on a prior knowledge of the model structure of the system to be identified, and thus, they can be regarded as parametric identification methods. This paper proposes an on-line non-parametric frequency response identification routine that is based on a fixed-coefficient Kalman filter, which is configured to perform like a Fourier transform. The approach exploits the knowledge of the excitation signal by updating the Kalman filter gains with the known time-varying frequency of chirp signal. The experimental results demonstrate the effectiveness of the proposed online identification method to estimate a non-parametric model of the closed loop controlled servomechanism in a selected band of frequencies

Performance, robustness and sensitivity analysis of the nonlinear tuned vibration absorber

The nonlinear tuned vibration absorber (NLTVA) is a recently-developed nonlinear absorber which generalizes Den Hartog's equal peak method to nonlinear systems. If the purposeful introduction of nonlinearity can enhance system performance, it can also give rise to adverse dynamical phenomena, including detached resonance curves and quasiperiodic regimes of motion. Through the combination of numerical continuation of periodic solutions, bifurcation detection and tracking, and global analysis, the present study identifies boundaries in the NLTVA parameter space delimiting safe, unsafe and unacceptable operations. The sensitivity of these boundaries to uncertainty in the NLTVA parameters is also investigated.Comment: Journal pape

Adaptive Frequency Neural Networks for Dynamic Pulse and Metre Perception.

Beat induction, the means by which humans listen to music and perceive a steady pulse, is achieved via a perceptualand cognitive process. Computationally modelling this phenomenon is an open problem, especially when processing expressive shaping of the music such as tempo change.To meet this challenge we propose Adaptive Frequency Neural Networks (AFNNs), an extension of Gradient Frequency Neural Networks (GFNNs).GFNNs are based on neurodynamic models and have been applied successfully to a range of difficult music perception problems including those with syncopated and polyrhythmic stimuli. AFNNs extend GFNNs by applying a Hebbian learning rule to the oscillator frequencies. Thus the frequencies in an AFNN adapt to the stimulus through an attraction to local areas of resonance, and allow for a great dimensionality reduction in the network.Where previous work with GFNNs has focused on frequency and amplitude responses, we also consider phase information as critical for pulse perception. Evaluating the time-based output, we find significantly improved re-sponses of AFNNs compared to GFNNs to stimuli with both steady and varying pulse frequencies. This leads us to believe that AFNNs could replace the linear filtering methods commonly used in beat tracking and tempo estimationsystems, and lead to more accurate methods

Detecting chaos in particle accelerators through the frequency map analysis method

The motion of beams in particle accelerators is dominated by a plethora of non-linear effects which can enhance chaotic motion and limit their performance. The application of advanced non-linear dynamics methods for detecting and correcting these effects and thereby increasing the region of beam stability plays an essential role during the accelerator design phase but also their operation. After describing the nature of non-linear effects and their impact on performance parameters of different particle accelerator categories, the theory of non-linear particle motion is outlined. The recent developments on the methods employed for the analysis of chaotic beam motion are detailed. In particular, the ability of the frequency map analysis method to detect chaotic motion and guide the correction of non-linear effects is demonstrated in particle tracking simulations but also experimental data.Comment: Submitted for publication in Chaos, Focus Issue: Chaos Detection Methods and Predictabilit