Control of pendulum tracking (including swinging up) of IPC system using zeroing-gradient method

Self Cite

By following and generalizing Ma et al.'s inspiring work and Zhang et al.'s inspiring work, this paper proposes and investigates three kinds of equivalent relationships with error-feedback information incorporated for the minimum-kinetic-energy (MKE) redundancy resolution. Specifically, these three equivalent relationships are divided into two big classes in terms of scheme formulations: one is termed MKE-type Ma equivalence (MKE-ME); the other is MKE-type Zhang equivalency (MKE-ZE), which can be further subdivided into MKE-ZE-I and MKE-ZE-II. Also, the equivalent analyses as well as the primary distinctions about three such equivalent relationships are presented. The simulation results based on a PUMA560 robot manipulator and a three-link planar robot manipulator not only verify the efficacy of the corresponding velocity-level and acceleration-level schemes of MKE-ME, MKE-ZE-I and MKE-ZE-II, but also substantiate their reasonableness and effectiveness of these three equivalent relationships. More importantly, the comparative numerical results show their respective characteristics and advantages for kinematic control of redundant robot manipulators.

Section: Mke-type Zhang Equivalency (Mke-ze)mentioning

confidence: 99%

“…Following Zhang et al. 's neural‐dynamics method , we can set

\overset{bold-italice}{true} = - λ bold-italice

to make e converge to zero exponentially. Thus, we have

C \overset{bold-italicθ}{true} + Ċ \overset{bold-italicθ}{true} + λ C \overset{bold-italicθ}{true} = bold-italic 0

.…”

Section: Preliminaries and Formulationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Analysis, Verification and Comparison on Feedback‐Aided MA Equivalence and Zhang Equivalency of Minimum‐Kinetic‐Energy Type for Kinematic Control of Redundant Robot Manipulators

Qiu

Zhang

Yang

2017

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“…The ZD method is designed based on an indefinite matrix‐/vector‐valued error function, and takes full advantage of the time‐derivative information of time‐varying coefficients. In addition, the ZD method is a powerful method that has been used in many nonlinear systems, such as the Lu chaotic system and the inverted pendulum system . Suppose that y d ( t ) is the desired output, a well‐designed controller should satisfy the condition that the error between y d ( t ) and actual output y ( t ), i.e.…”

Section: Introductionmentioning

confidence: 99%

ZD Method Based Nonlinear and Robust Control of Agitator Tank

Zhang¹,

Ding²,

Qiu³

et al. 2017

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To improve industrial efficiency, an agitator tank system should have not only a short response time, but also produce reagents with accurate concentration and moderate liquid level. This paper presents a new method called Zhang dynamics (ZD) to perform tracking control, that is, to make the concentration and liquid level of the agitator tank converge to the desired trajectories. Two controllers for tracking control of an agitator tank system are designed based on ZD method. In addition, the robustness of the agitator tank system equipped with ZD controllers is investigated. Theoretical analyses on the convergence performance and robustness of the agitator tank system equipped with ZD controllers are presented. To substantiate the effectiveness of the ZD method for tracking control of the agitator tank system, we perform simulations on three different groups of tracking trajectories, which reflects the corresponding application conditions in the chemical industry. To test the robustness of the agitator tank system equipped with ZD controllers, additional simulations with different disturbances added in the agitator tank system and the ZD controllers are performed. Simulation results validate the feasibility and effectiveness of the ZD method for tracking control of the agitator tank system.

Performance‐based near‐optimal vibration control for nonlinear offshore platforms with delayed input

Zhong

Han

Zhou

et al. 2019

This paper investigates the vibration control problem for offshore platform, where the nonlinear characteristics, delayed input and external wave force are considered in time domain. By introducing a delay‐free reconstructional vector and applying the maximum principle, the original vibration problem for offshore platform is formulated as a nonlinear two‐point‐boundary‐value (TPBV) problem with delayed items. The major contribution of this paper is that a performance‐based near‐optimal vibration control strategy is proposed by solving this nonlinear TPBV problem, which includes a feedback item with offshore platform system state, a feedforward item with wave force state, and a compensator for nonlinear and delayed items with infinite supersensitive component. In particular, the designed compensator is calculated from two group series of linear differential equations by introducing a parameter for expending the Maclaurin series of nonlinear and delay items. Meanwhile, an iterative algorithm is designed to make the proposed vibration control scheme computable based on the control performance in each iterative procedure. Finally, experimental results show that the displacement, velocity and performance index of an employed offshore platform achieved small values under the proposed control strategy and designed algorithm.