Feedback passivity‐based control of discrete nonlinear systems with time‐delay for variable geometry truss manipulator

Abstract

In this paper, the feedback passivity-based control of nonlinear discrete time-delay systems for variable geometry truss manipulators is investigated. To determine an appropriate communication channel in the sense of feedback passivation, we first model the dynamics of the variable geometry truss manipulator as a generalized discrete nonlinear system with time-delay. Then we further prove that when the infinite norm of estimated error is bounded, as long as there is a controller enables the closed-loop system to be input-strictly passive, there must be a deterministic equivalent controller to ensure that the system is stochastically quasi passive. After that, on the basis of the conclusion obtained, a more conclusive corollary is addressed for linear plants. Though passivity is a stricter condition than stability, feedback passivation does not impose more restrictions on estimate errors, and therefore does not require more communication channel information than mean square stability. Finally, we simplify the variable geometry truss dynamics to a linear plant to simulate to verify the validity of our method, and also compared the experimental results with the methods in the existing literature.

Differentiator‐based time delay control for uncertain robot manipulators

“…x 1 . This fact together with the obvious observation that x 2 2 ∕2 is radially unbounded and positive definite w.r.t. x 2 allow us to conclude that the V defined by ( 13) is radially unbounded and positive definite w.r.t x 1 , x 2 .…”

“…Robot manipulators have been widely involved in computer-integrated manufacturing, industrial automa-tion, and medical healthy fields [2,3]. High-performance trajectory tracking of uncertain systems including robot manipulators is one of the fundamental key issues to accomplish various complex tasks [4].…”

A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space

“…A cage-like structure was designed to drive the wire rope, and a special motor-driven control system was proposed to control the robot [28]. Jing and his team at the Shanghai Jiao Tong University proposed a serpentine arm based on an octahedral variable geometry truss [29][30][31][32][33][34]. The Shanghai Jiaotong University developed a rope-driven superredundant manipulator with 12 joints and 24 degrees of freedom, which can achieve a load capacity of 0.5 kg at the end through the drive control of 36 motors [35,36].…”

Passivity analysis of multiple time-varying time delayed complex variable neural networks in finite-time

“…The authors of [32] used the Lyapunov-Krasovskii functional approach and weighting matrices to study passivity analysis of stochastic time-delay neural networks. In addition, the subject of passivity analysis for various neural networks has received a lot of attention [33][34][35][36][37][38][39][40][41][42]. To the best of authors knowledge, so far, no result on the finite-time passivity for complex valued neural network systems with time varying delay has been reported.…”