Experimental feedback linearisation of a non-smooth nonlinear system by the method of receptances

Lisitano, Domenico; Jiffri, Shakir; Bonisoli, Elvio; Mottershead, John E.

doi:10.1177/1081286517744601

Cited by 5 publications

(2 citation statements)

References 27 publications

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“…Head oscillation could be attenuated using an active control strategy; usually, a velocity feedback control achieves pretty good performances in attenuating selective harmonics [47][48][49]. An active control strategy requires a sensor and an actuator at the head location to measure the dynamics and provide the force to attenuate the head oscillation.…”

Section: Head Vibration Reductionmentioning

confidence: 99%

Dynamic Balance of the Head in a Flexible Legged Robot for Efficient Biped Locomotion

et al. 2021

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In the biped robotics domain, head oscillations may be extremely harmful, especially if the robot is teleoperated, since vibrations strongly reduce the operator’s spatial awareness. In particular, undesired head oscillations occur in under-actuated robots, where springs and passive mechanisms are used to achieve a human-like motion. This paper proposes an approach to reduce the vibrations of a biped robot’s head; the proposed solution does not affect the dynamic locomotion properties, on which specific control logic could have been already tuned. The approach is tested on Rollo, a flexible-biped-wheeled robot, whose head vibrates throughout the robot locomotion. The two requirements, i.e., head vibration reduction and unchanged Rollo locomotion properties, are traduced in constraints to the robot possible modifications. Based on a 1D finite element model of the robot, tuned on experimental modal analysis, the undesired vibration causes are detected, and a solution for their reduction is proposed. Rollo’s head vibration amplitude is attenuated using a tuned vibration absorber, which achieves impressive performance in the robot. An archetype of the proposed vibration absorber is tailored designed on Rollo, without invasive changes to the robot structure. The proposed approach solves a significant problem in the biped robotic research community. The approach used to reduce the Rollo head oscillations may be utilized in other biped robot machines with or without flexible legs.

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Section: Head Vibration Reductionmentioning

confidence: 99%

Dynamic Balance of the Head in a Flexible Legged Robot for Efficient Biped Locomotion

et al. 2021

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“…In Alonge et al (2016), the authors have applied it to control a linear induction motor including the dynamic end-effects. Then, the feedback linearization has been applied also on three degrees of freedom vibration system in Lisitano et al (2018). However, it can be deduced that the traditional feedback linearization demands a well-defined mathematical model to be applied.…”

Section: Introductionmentioning

confidence: 99%

Performance improvement of direct torque control for induction motor drive via fuzzy logic-feedback linearization

Ammar¹

2019

COMPEL

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Purpose This paper aims to propose an improved direct torque control (DTC) for the induction motor’s performance enhancement using dual nonlinear techniques. The exact feedback linearization is implemented to create a linear decoupled control. Besides, the fuzzy logic control approach has been inserted to generate the auxiliary control input for the feedback linearization controller. Design/methodology/approach To improve the DTC for induction motor drive, this work suggests the incorporation of two nonlinear approaches. As the classical feedback linearization suffers while the presence of uncertainties and modeling inaccuracy, it is recommended to be associated to another robust control approach to compensate the uncertainties of the model and make a robust control versus the variations of the machine parameters. Therefore, fuzzy logic controllers will be integrated as auxiliary inputs to the feedback linearization control law. Findings The simulation and the experimental validation of the proposed control algorithm show that the association of dual techniques can effectively achieve high dynamic behavior and improve the robustness against parameters variation and external disturbances. Moreover, the space vector modulation is used to preserve a fixed switching frequency, reduce ripples and low switching losses. Practical implications The theoretical, simulation and experimental studies prove that the proposed control algorithm can be used on different AC machines for variable speed drive applications such as oil drilling, traction systems and wind energy conversion systems. Originality/value The proposed DTC strategy has been developed theoretically and realized through simulation and experimental implementation. Different operation conditions have been conducted to check the ability and robustness of the control strategy, such as steady state, speed reversal maneuver, low-speed operation and parameters variation test with load application.

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Experimental direct spatial damping identification by the Stabilised Layers Method

Lisitano

Bonisoli

Mottershead

2018

Journal of Sound and Vibration

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Experimental feedback linearisation of a non-smooth nonlinear system by the method of receptances

Cited by 5 publications

References 27 publications

Dynamic Balance of the Head in a Flexible Legged Robot for Efficient Biped Locomotion

Dynamic Balance of the Head in a Flexible Legged Robot for Efficient Biped Locomotion

Performance improvement of direct torque control for induction motor drive via fuzzy logic-feedback linearization

Experimental direct spatial damping identification by the Stabilised Layers Method

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