A Novel Adaptive Jerk Control With Application to Large Workspace Tracking on a Flexure-Linked Dual-Drive Gantry

Kamaldin, Nazir; Chen, Chin-Yin; Teo, Chek Sing; Lin, Wei; Tan, Kok Kiong

doi:10.1109/tie.2018.2870391

Cited by 36 publications

(21 citation statements)

References 32 publications

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“…Jerk in advanced manufacturing can be categorised into jerk in industrial robots , machining [64][65][66][67][68][69][70][71][72][73][74][75][76][77][78], motors [79][80][81][82][83], and 3D printers [84][85][86][87][88][89][90].…”

Section: Jerk In Advanced Manufacturingmentioning

confidence: 99%

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Jerk within the Context of Science and Engineering—A Systematic Review

et al. 2020

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Rapid changes in forces and the resulting changes in acceleration, jerk and higher order derivatives can have undesired consequences beyond the effect of the forces themselves. Jerk can cause injuries in humans and racing animals and induce fatigue cracks in metals and other materials, which may ultimately lead to structure failures. This is a reason that it is used within standards for limits states. Examples of standards which use jerk include amusement rides and lifts. Despite its use in standards and many science and engineering applications, jerk is rarely discussed in university science and engineering textbooks and it remains a relatively unfamiliar concept even in engineering. This paper presents a literature review of the jerk and higher derivatives of displacement, from terminology and historical background to standards, measurements and current applications.

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Section: Jerk In Advanced Manufacturingmentioning

confidence: 99%

“…In recent years, jerk has been used in 3D printers [84][85][86][87][88][89][90]. One important consideration in 3D printing is that the term jerk, in the majority of 3D firmware, is defined in terms of the maximum "instantaneous" velocity change without consideration of the time required [84,90].…”

Section: Jerk In 3d Printersmentioning

confidence: 99%

Jerk within the Context of Science and Engineering—A Systematic Review

et al. 2020

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“…To reduce the effect of dynamic uncertainties, adaptive-based controllers are the most commonly used methods [16][17][18][19][20][21][22][23][24]. For example, in [17], an adaptive robust controller with ESO (ARCESO) was synthesized for high-accuracy motion control of a DC motor, in which the adaptive control was presented to deal with for the parametric uncertainty.…”

Section: Introductionmentioning

confidence: 99%

Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator

Liao

Wang

et al. 2021

Applied Sciences

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High dynamic performance of a deep-sea electric oil-filled joint actuator is an important premise to guarantee the working performance of an electric underwater manipulator. However, the unfavorable factors (i.e., extremely high water pressure, near freezing temperature) brought by the deep-sea working environment seriously affect the characteristic and dynamic performance of the electric oil-filled joint actuator, which mainly includes oil stirring viscos loss, output shaft dynamic seal loss, and core loss. In this paper, a novel observer-based robust control method named prescribed performance non-singular fast-terminal sliding-mode control (PP-NFTSMC-ESO) was synthesized for improving the dynamic performance of a deep-sea electric oil-filled joint actuator. The extended state observer (ESO) was employed to observe the unmeasured joint velocity signal and estimate the lumped uncertainties, while the prescribed performance function (PPF) was applied to constrain the instantaneous and steady-state performance of the trajectory-tracking error. The robust NFTSMC control method was then established by integrating the function of ESO and PPF through backstepping methodology. The stability of the proposed PP-NFTSMC-ESO strategy was analyzed and proved by the Lyapunov’s stability theory. It was proven that under the proposed controller, all the closed-loop signals are bounded and the trajectory tracking errors will converge to a small neighborhood of the origin with appropriate design parameters. The effectiveness of the proposed control scheme was illustrated by comparative simulation studies.

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“…At present, the research works on redundant actuation are mainly focused on the singularities and the workspace. However, the intelligent control strategies in the existing literature are seldom studied [4][5][6], which has just gotten more attention to make the most use of their advantages; in particular, for high speed, high accuracy machine tools, trajectory track-ing control, for instance, adaptive control and robust control, is very essential for more prosperous applications [7][8][9][10][11].…”

Section: Introductionmentioning

confidence: 99%

“…Force/position hybrid control scheme diagram of parallel mechanism with redundant actuation 8. International Journal of Aerospace Engineering…”

mentioning

confidence: 99%

Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

Zhang

Fang

Zhang

et al. 2020

International Journal of Aerospace Engineering

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Parallel mechanisms with redundant actuation are attracting numerous scholars’ research interest due to their inherent advantages. In this paper, an efficient trajectory tracking control scheme for the new redundantly actuated parallel mechanism by integrating force/position hybrid control with the combination of inertia feed-forward control and back propagation (BP) neural network PID control is proposed. The dynamic models including the joint space and task space are formulated explicitly in efficient and compact form by means of the principle of virtual work and d’Alembert formulations. The force/position hybrid control is implemented to perform trajectory tracking and optimize the driving force configuration in MATLAB/Simulink environment, before being applied to an actual parallel mechanism. The illustrative simulation results demonstrate that the force/position hybrid control scheme is available to provide good trajectory tracking performance. Simultaneously, the feasibility of the proposed control scheme is verified by comparison analysis with the aforementioned conventional control method.

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A Novel Adaptive Jerk Control With Application to Large Workspace Tracking on a Flexure-Linked Dual-Drive Gantry

Cited by 36 publications

References 32 publications

Jerk within the Context of Science and Engineering—A Systematic Review

Jerk within the Context of Science and Engineering—A Systematic Review

Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator

Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

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