Output feedback controller for trajectory tracking of robot manipulators without velocity measurements nor observers

Rascón, Raúl; Moreno–Valenzuela, Javier

doi:10.1049/iet-cta.2020.0037

Cited by 12 publications

(7 citation statements)

References 31 publications

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“…(3) Lastly, first and second-order anti-pitching controller performance without velocity estimation have been compared. Figures 18 and 19 show the heave displacement and pitch angle of the catamaran using the first-order controller 11 and second-order controller proposed in this paper respectively. Combined with Table 1, it can be seen that compared with the first-order controller, the heave displacement of the catamaran using the second-order controller is reduced by about 5%, and the pitch angle is reduced by about 15%.…”

Section: Simulation Analysesmentioning

confidence: 99%

“…The first order dynamic system without velocity measurements was given in Rascón and Moreno-Valenzuela, 11 but the iteration method was too complicated to obtain the parameter. Moreover, the dynamic response of the first-order system G 1 ( s ) = e 3 ( s ) e 1 ( s ) = − k 1 s + k 2 is obviously slower than that of the second-order system G 2 ( s ) = e 3 ( s ) e 1 ( s ) = − k 1 s 2 + k 2 s + k 4 , resulting in the deterioration of the anti-pitching control performance.…”

Section: Second-order Dynamic Anti-pitching Controllermentioning

confidence: 99%

“…However, the system states of heave velocity and pitch angular velocity are either assumed to be known or estimated by complex extended Kalman filter in the aforementioned studies, and the anti-pitching control without velocity observers has not been considered. Rasco´n and Moreno-Valenzuela, 11 the first-order dynamic system was used to realize the robot control without velocity measurements and observers, but the response speed of the first-order dynamic system was relatively slow, and the iterative update of control parameters was too complex to compute resulting in some limitations.…”

Section: Introductionmentioning

confidence: 99%

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Robust anti-pitching control for high-speed multihull without velocity measurements

Zhang

Hao

2022

Proceedings of the Institution of Mechanical Engineers, Part M:

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Considering the excessive vertical motion amplitude of high-speed multihull, and the difficulty of measuring heave velocity and pitch angular velocity directly, a robust anti-pitching control method without velocity measurements is proposed in this paper. The vertical motion model of the high-speed multihull is established with the used anti-pitching appendages, that is, T-foil and flap. The uncertainty of the vertical control model, and the coupling between heave and pitch motions are analyzed. Only using the output feedback of heave displacement and pitch angle, a stable second-order dynamic system is constructed to realize the anti-pitching control, avoiding the observation of heave velocity and pitch angular velocity during the process of control design. Furthermore, the regional pole assignment theory is adopted to select the parameters, so as to ensure the dynamic performance. On this basis, an extended state observer (ESO) is designed to estimate the stochastic disturbance and the coupling between heave and pitch motions online, and the bandwidth of the ESO is chosen based on the wave power spectrum, such that the robust anti-pitching performance can be further improved due to the real-time feedforward compensation. The stability of the closed loop system is theoretically proved using Lyapunov theory, and the effectiveness of the proposed algorithm is also verified by numerical simulations.

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Section: Simulation Analysesmentioning

confidence: 99%

Section: Second-order Dynamic Anti-pitching Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust anti-pitching control for high-speed multihull without velocity measurements

Zhang

Hao

2022

Proceedings of the Institution of Mechanical Engineers, Part M:

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“…In addition, MRM will be disturbed by external forces in uncertain environment during operation, which brings some difficulties to high-precision trajectory tracking of MRM, so it is particularly important for MRM to study trajectory tracking control methods with strong robustness and anti-interference ability (Nohooji, 2020). As a fundamental subject, the trajectory tracking control of MRM has attracted much attention of scholars (Guo et al, 2018; Pan et al, 2019; Rascon and Valenzuela, 2020). In early years, MRMs were usually controlled by linear proportional integral derivative (PID), which had the main features of control simplicity and ease of achievement but required high power consumption to govern in the case of large inertia changes and could only assure local stability (Liu and Ou, 2021; Zhang et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

A compensation sliding mode control for machining robotic manipulators based on nonlinear disturbance observer

Yin

Wen

et al. 2022

Transactions of the Institute of Measurement and Control

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The machining robotic manipulators (MRMs) find a broad range of applications due to their high efficiency, wide range of processing, and strong flexibility. High tracking accuracy and strong anti-interference ability are required to trajectory tracking control of machining robot during processing. In view of the above characteristics, this paper proposes a compensation sliding mode control (CSMC) based on nonlinear disturbance observer (NBO-CSMC) for MRM. First, we deduced the dynamic model of MRM considering the uncertainties and disturbances. Then, for improving the trajectory tracking accuracy, a compensation sliding mode controller is designed based on the traditional sliding mode control (TSMC) strategy. Finally, in order to reduce the chattering in sliding mode control, the NBO-CSMC is designed for MRM, NBO is used to estimate the external composite uncertain interference existing in the system, and compensate the system control input in real time. The Lyapunov’s theory proved the stability of the proposed algorithm, and simulation experiments verified the effectiveness of the proposed control strategy.

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“…A study that investigates the robust quantised H ∞ control problem for active suspension systems is presented in [8], while a different approach is taken by [9], where a fault-tolerant control approach is proposed to deal with the problem of fault accommodation for unknown actuator failures of active suspension systems. [10] presents an interesting procedure, where an output feedback controller is designed for trajectory tracking of robot manipulators without velocity measurements nor observers. This paper proposes a new design and practical implementation of two robust H ∞ control methods applied to a system of active suspension manufactured by Quanser [11].…”

Section: Introductionmentioning

confidence: 99%

Implementations of Full State Feedback Robust Control Designs for Mechanical Systems Using Only Positions or Velocities Output Feedback

et al. 2022

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This paper proposes a new design and practical implementation of a robust H ∞ control applied to some mechanical systems considering in the controller design full access to the state variables and in the equivalent controller implementation only the feedback of all positions or of all velocities of the plant. An important characteristic, though, is that limitations are considered for the state feedback. Two methods are presented, one that uses feedback only from state variables related to positions of the system and another that uses feedback only from state variables related to velocities. The control strategy is based on Linear Matrix Inequalities (LMIs), using the theory of D-stability, which allows the designer to allocate the closed loop system eigenvalues in a negative complex semi-plane region, which, in addition to ensuring stability, also allows to attend certain performance requirements of the feedback system. The paper motivation is to provide satisfactory control results with limited states access, without any kind of estimation of the state variables that are not available. Therefore, the proposed control systems are interesting options as alternatives for the design of full-order state feedback for plants with uncertain parameters using only output feedback, considering that it is not required to build an observer to estimate any plant state variable. Furthermore, their implementations are relatively cheaper because it is not necessary to measure all state variables of the plant.

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Output feedback controller for trajectory tracking of robot manipulators without velocity measurements nor observers

Cited by 12 publications

References 31 publications

Robust anti-pitching control for high-speed multihull without velocity measurements

Robust anti-pitching control for high-speed multihull without velocity measurements

A compensation sliding mode control for machining robotic manipulators based on nonlinear disturbance observer

Implementations of Full State Feedback Robust Control Designs for Mechanical Systems Using Only Positions or Velocities Output Feedback

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