1,421 research outputs found
Global Stabilization of Triangular Systems with Time-Delayed Dynamic Input Perturbations
A control design approach is developed for a general class of uncertain
strict-feedback-like nonlinear systems with dynamic uncertain input
nonlinearities with time delays. The system structure considered in this paper
includes a nominal uncertain strict-feedback-like subsystem, the input signal
to which is generated by an uncertain nonlinear input unmodeled dynamics that
is driven by the entire system state (including unmeasured state variables) and
is also allowed to depend on time delayed versions of the system state variable
and control input signals. The system also includes additive uncertain
nonlinear functions, coupled nonlinear appended dynamics, and uncertain dynamic
input nonlinearities with time-varying uncertain time delays. The proposed
control design approach provides a globally stabilizing delay-independent
robust adaptive output-feedback dynamic controller based on a dual dynamic
high-gain scaling based structure.Comment: 2017 IEEE International Carpathian Control Conference (ICCC
Robust control of mechanical systems: a computational design study
Methods for the design of robust controllers for nonlinear systems, especially manipulators, are investigated with emphasis on robustness for unmodeled dynamics. The system to be controlled is a two-degree-of-freedom manipulator, with a rotational and a prismatic joint. The control task is to follow a circular object with trajectory control along the circumference and force control in the direction perpendicular to the circumference. For the trajectory a fixed computed torque with a PD (proportional plus derivative) controller is used. The force is controlled by the controllers under investigation. These controllers are all based on a linearizing state-feedback with acceleration feedforward, and a controller based on a H/sub 2/ or H/sub infinity / design for the resulting linear system. A PD controller is used for referenc
Adaptive Neural Network Feedforward Control for Dynamically Substructured Systems
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Control of Towing Kites for Seagoing Vessels
In this paper we present the basic features of the flight control of the
SkySails towing kite system. After introduction of coordinate definitions and
basic system dynamics we introduce a novel model used for controller design and
justify its main dynamics with results from system identification based on
numerous sea trials. We then present the controller design which we
successfully use for operational flights for several years. Finally we explain
the generation of dynamical flight patterns.Comment: 12 pages, 18 figures; submitted to IEEE Trans. on Control Systems
Technology; revision: Fig. 15 corrected, minor text change
A nonlinear disturbance observer for robotic manipulators
A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DOs, which are designed or analyzed by linear system techniques. It can be applied in robotic manipulators for various purposes such as friction compensation, independent joint control, sensorless torque control and fault diagnosis. The performance of the proposed observer is demonstrated by the friction estimation and compensation for a two-link robotic manipulator. Both simulation and experimental results show the NDO works well
Frequency-Aware Model Predictive Control
Transferring solutions found by trajectory optimization to robotic hardware
remains a challenging task. When the optimization fully exploits the provided
model to perform dynamic tasks, the presence of unmodeled dynamics renders the
motion infeasible on the real system. Model errors can be a result of model
simplifications, but also naturally arise when deploying the robot in
unstructured and nondeterministic environments. Predominantly, compliant
contacts and actuator dynamics lead to bandwidth limitations. While classical
control methods provide tools to synthesize controllers that are robust to a
class of model errors, such a notion is missing in modern trajectory
optimization, which is solved in the time domain. We propose frequency-shaped
cost functions to achieve robust solutions in the context of optimal control
for legged robots. Through simulation and hardware experiments we show that
motion plans can be made compatible with bandwidth limits set by actuators and
contact dynamics. The smoothness of the model predictive solutions can be
continuously tuned without compromising the feasibility of the problem.
Experiments with the quadrupedal robot ANYmal, which is driven by
highly-compliant series elastic actuators, showed significantly improved
tracking performance of the planned motion, torque, and force trajectories and
enabled the machine to walk robustly on terrain with unmodeled compliance
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