321 research outputs found
Position control of pneumatic actuators with PLC
Design and application of the robust and accurate position control for pneumatic cylinders based on the sliding-mode technique is presented by experimental investigations. The paper describes the model of the pneumatic cylinder and the three main design steps of the proposed control method. The aim of this paper is to investigate controlling pneumatic actuators using a Programmable Logic Controller (PLC) instead of micro-controllers chips. As PLCs are now involved in most industrial processes
ROBOTIC LAWN MOWER
The Final Year Project course is designed for students to do research; design
and development work in each discipline, to produce practical solutions. It provides
opportunity for students to use the tools and techniques of problem-solving by
engagement of the project. Under proper guidance of supervisor, the students will
shape the direction in the field of interest as a preparation for approaching their
desired career path in the near future, as well as gain better understanding of the
responsibilities they have to shoulder when they undertake a project.
The objective of this project is to produce an automatic robotic lawn mover
which is able to cut grass of a specified area of flat land. The first approach to this
project is to conduct intensive literature reviews regarding the functions of robots and
robotic designs and programming. The Second phase of this project is implementation
of the theory to build a functioning robot.
The scope of the study would focus on the design and implementation of the
robot from scratch. The study is broken down into sub sections, which are electronic
circuits, movement mechanism and programming. These subsections are developed
and combined until the implementation of the workable robot.
In the discussion section, all findings would be discussed in more detail and
alternatives are compared as to assure the objectives are met during implementation
Development and applications of new sliding mode control approaches
Ph.DDOCTOR OF PHILOSOPH
Design of Adaptive Sliding Mode Fuzzy Control for Robot Manipulator Based on Extended Kalman Filter
In this work, a new adaptive motion control scheme for robust performance control of robot manipulators is presented. The proposed scheme is designed by combining the fuzzy logic control with the sliding mode control based on extended Kalman filter. Fuzzy logic controllers have been used successfully in many applications and were shown to be superior to the classical controllers for some nonlinear systems. Sliding mode control is a powerful approach for controlling nonlinear and uncertain systems. It is a robust control method and can be applied in the presence of model uncertainties and parameter disturbances, provided that the bounds of these uncertainties and disturbances are known. We have designed a new adaptive Sliding Mode Fuzzy Control (SMFC) method that requires only position measurements. These measurements and the input torques are used in an extended Kalman filter (EKF) to estimate the inertial parameters of the full nonlinear robot model as well as the joint positions and velocities. These estimates are used by the SMFC to generate the input torques. The combination of the EKF and the SMFC is shown to result in a stable adaptive control scheme called trajectory-tracking adaptive robot with extended Kalman (TAREK) method. The theory behind TAREK method provides clear guidelines on the selection of the design parameters for the controller. The proposed controller is applied to a two-link robot manipulator. Computer simulations show the robust performance of the proposed scheme
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