Modified Simple Adaptive Control for a two-link space robot

Ulrich, Steve; Sąsiadek, Jurek Z.

doi:10.1109/acc.2010.5530518

Cited by 24 publications

(18 citation statements)

References 28 publications

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“…The above problem requirement (12) may seem generally difficult to achieve for a nonlinear system, but it is actually achievable under the full-actuation assumption A3. This is well understood in the special case of A 2 (θ, x,ẋ) = I n .…”

Section: Remarkmentioning

confidence: 98%

“…Moreover, the resulted closed-loop system isẊ [10] and [12]. As a result, M (q) is given by (45) and C(q,q) is given by…”

Section: Direct Parametric Controlmentioning

confidence: 99%

“…Second-order systems capture the dynamic behavior of many natural phenomena, and have found applications in many fields, such as vibration and structural analysis ([1]- [3]), aerospace control ([4]- [7]), flexible structures ( [8], [9]), robotic systems ([10]- [12]), etc. Among most reported results, controls of such practical systems are carried out by using the first-order system framework.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Direct parametric control of fully-actuated second-order nonlinear systems—The normal case

Duan

2014

Proceedings of the 33rd Chinese Control Conference

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Fully-actuated second-order systems occur in many applications, such as robotics systems, aircraft systems, mechanical systems etc. Yet what does a fully-actuated system offer? This paper proposes a direct parametric approach which solves the control of a fully-actuated second-order system completely. It is revealed that, with this proposed approach, fully-actuated systems, no matter linear or nonlinear, can actually be turned into a constant linear system with desire eigenstructure by state proportional plus derivative feedback. What is more, in such a realization the approach also provides all the degrees of freedom which may be further utilized to improve the system performance. Direct general complete parametrization of such a controller is proposed based on the solution to a type second-order Sylvester matrix equations, application to a robotic system shows the great convenience of the proposed direct parametric approach.

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Section: Remarkmentioning

confidence: 98%

“…Moreover, the resulted closed-loop system isẊ [10] and [12]. As a result, M (q) is given by (45) and C(q,q) is given by…”

Section: Direct Parametric Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Direct parametric control of fully-actuated second-order nonlinear systems—The normal case

Duan

2014

Proceedings of the 33rd Chinese Control Conference

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“…Recently, the MSAC methodology was successfully applied to a rigid joint space robot. 23 Extending the MSAC law to the control of the MIMO flexible robotic system defined in Section II yields the following adaptation mechanism for the control gains in Eq. (7)…”

Section: B Modified Simple Adaptive Controlmentioning

confidence: 99%

Direct Model Reference Adaptive Control of a Flexible Joint Robot

Ulrich

Sąsiadek

2010

AIAA Guidance, Navigation, and Control Conference

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Flexible effects in the joints of large space robots make their real-time operation a challenging task, especially when accurate endpoint positioning is required. The problem is further aggravated when the flexible joint stiffness matrix is not well known. This paper discusses the application of a model reference adaptive control (MRAC) composite system for tracking the endpoint of a flexible joint space robotic manipulator. The composite control scheme consists in a flexible control term designed to damp the joint vibrations plus a Transpose Jacobian rigid control term for which the control gains are adapted using a novel direct MRAC adaptation law. Numerical simulations show that the adaptive composite controller can maintain stability and good tracking performance despite significant uncertainties in the joint stiffness coefficients. Nomenclaturecomponent of the adaptive derivative gain matrix ) (t dp K = proportional component of the adaptive derivative gain matrix i k = stiffness of joint i , n i , , 1 K = p K = constant proportional gain matrix ) (t p K = adaptive proportional gain matrix ) (t pi K = integral component of the adaptive proportional gain matrix ) (t pp K = proportional component of the adaptive proportional gain matrix v K = vibration damping gain matrix ci l = distance from previous joint to the center of gravity of link i , n i , , 1 K = i l = length of link i , n i , , 1 K = i m = mass of link i , n i , , 1 K = ) (q M r = rigid inertia matrix 2 q = link angles vector m q = motor angles vector x , y = actual endpoint position c x , c y = commanded endpoint position ref x , ref y = model reference endpoint position p δ , d δ = small control coefficients pp Γ , pi Γ = proportional control parameters dp Γ , di Γ = derivative control parameters τ = control torque vector f τ = fast control torque vector s τ = slow control torque vector

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“…Second-order systems capture the dynamic behavior of many natural phenomena, and have found applications in many fields, such as vibration and structural analysis ([1]- [3]), aerospace control ([4]- [7]), flexible structures ( [8], [9]), robotic systems ([10]- [12]), etc. However, when the actuator systems or the sensor systems involved in these second-order systems are modelled with a dynamical order not less than 1, then the dynamical models of these systems can be expressed by high-order systems.…”

Section: Introductionmentioning

confidence: 99%

Direct parametric control of fully-actuated high-order nonlinear systems—Normal case

Duan

2014

Proceeding of the 11th World Congress on Intelligent Control and Automation

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Full-actuation of a dynamical system really provides great potential for system control, and yet this potential is seldom utilized or even recognized. In this paper, the direct parametric approach for fully-actuated second-order nonlinear systems recently proposed is generalized to the case of fullyactuated high-order nonlinear systems. It is revealed that, with this proposed direct parametric approach, a fully-actuated system, no matter linear or nonlinear, can actually be turned into a constant linear system with desire eigenstructure by a state proportional plus derivative feedback controllers, and a general complete parametric expression for all such controllers are established based on the solution to a type high-order Sylvester matrix equations. What is more, in such a realization the approach also provides all the degrees of freedom which may be further utilized to improve the system performance.Index Terms-Fully-actuated high-order systems, direct parametric approach, eigenstructure, degree of freedom, nonlinear systems.

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Modified Simple Adaptive Control for a two-link space robot

Cited by 24 publications

References 28 publications

Direct parametric control of fully-actuated second-order nonlinear systems—The normal case

Direct parametric control of fully-actuated second-order nonlinear systems—The normal case

Direct Model Reference Adaptive Control of a Flexible Joint Robot

Direct parametric control of fully-actuated high-order nonlinear systems—Normal case

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Modified Simple Adaptive Control for a two-link space robot

Cited by 24 publications

References 28 publications

Direct parametric control of fully-actuated second-order nonlinear systems&#x2014;The normal case

Direct parametric control of fully-actuated second-order nonlinear systems&#x2014;The normal case

Direct Model Reference Adaptive Control of a Flexible Joint Robot

Direct parametric control of fully-actuated high-order nonlinear systems&#x2014;Normal case

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Direct parametric control of fully-actuated second-order nonlinear systems—The normal case

Direct parametric control of fully-actuated second-order nonlinear systems—The normal case

Direct parametric control of fully-actuated high-order nonlinear systems—Normal case