Robust impedance control of a hydraulic suspension system

Fateh, Mohammad Mehdi

doi:10.1002/rnc.1473

Cited by 29 publications

(16 citation statements)

References 25 publications

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“…The discrete model of the robotic system is presented by (19). The DLQ controller is given by (32), (34) and (35).…”

Section: Simulation Resultsmentioning

confidence: 99%

“…This type of uncertainty estimation was successfully used to estimate the uncertainty in the robust impedance control of a hydraulic suspension system [19] , the robust control of flexible-joint robots [13] , and minimumnorm and time-optimal repetitive control [4] .…”

Section: Robust Time-delay Controllermentioning

confidence: 99%

“…The performance of the time-delay controller can be evaluated by substituting (20) into system (19).…”

Section: Robust Time-delay Controllermentioning

confidence: 99%

See 2 more Smart Citations

Modeling and Robust Discrete LQ Repetitive Control of Electrically Driven Robots

Fateh

Baluchzadeh

2013

Int. J. Autom. Comput.

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Discrete linear quadratic control has been efficiently applied to linear systems as an optimal control. However, a robotic system is highly nonlinear, heavily coupled and uncertain. To overcome the problem, the robotic system can be modeled as a linear discrete-time time-varying system in performing repetitive tasks. This modeling motivates us to develop an optimal repetitive control. The contribution of this paper is twofold. For the first time, it presents discrete linear quadratic repetitive control for electrically driven robots using the mentioned model. The proposed control approach is based on the voltage control strategy. Second, uncertainty is effectively compensated by employing a robust time-delay controller. The uncertainty can include parametric uncertainty, unmodeled dynamics and external disturbances. To highlight its ability in overcoming the uncertainty, the dynamic equation of an articulated robot is introduced and used for the simulation, modeling and control purposes. Stability analysis verifies the proposed control approach and simulation results show its effectiveness.

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“…The discrete model of the robotic system is presented by (19). The DLQ controller is given by (32), (34) and (35).…”

Section: Simulation Resultsmentioning

confidence: 99%

Section: Robust Time-delay Controllermentioning

confidence: 99%

See 1 more Smart Citation

Modeling and Robust Discrete LQ Repetitive Control of Electrically Driven Robots

Fateh

Baluchzadeh

2013

Int. J. Autom. Comput.

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“…Time delay method [10] and uncertainty estimation [11] can be used to control the robot manipulator by estimating the unknown dynamics and disturbances. Uncertainty can be well estimated by a time-delay estimator [12] or an adaptive fuzzy system [13]. The time-delay method was effectively applied to compensate uncertainty in the robust impedance control of a suspension system [12], robust repetitive control of rigid robots [9] and robust control of flexible-joint robots [14].…”

Section: Introductionmentioning

confidence: 99%

“…Uncertainty can be well estimated by a time-delay estimator [12] or an adaptive fuzzy system [13]. The time-delay method was effectively applied to compensate uncertainty in the robust impedance control of a suspension system [12], robust repetitive control of rigid robots [9] and robust control of flexible-joint robots [14]. The repetitive adaptive control and repetitive robust control are appreciated to overcome the structured uncertainties and unstructured uncertainties, respectively.…”

Section: Introductionmentioning

confidence: 99%

Discrete-time repetitive optimal control: Robotic manipulators

Fateh

Baluchzadeh²

2016

JAIDM

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This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanent magnet dc motors in the current mode. The motor current is regulated using a proportional-integral controller. The novelty of this paper is a modification in using the discrete-time linear quadratic control for the robot manipulator, which is a nonlinear uncertain system. For this purpose, a novel discrete linear time-variant model is introduced for the robotic system. Then, a time-delay uncertainty estimator is added to the discrete-time linear quadratic control to compensate the nonlinearity and uncertainty associated with the model. The proposed control approach is verified by stability analysis. Simulation results show the superiority of the proposed discrete-time repetitive optimal control over the discrete-time linear quadratic control.

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Robust adaptive backstepping sliding mode control for motion mode decoupling of two‐axle vehicles with active kinetic dynamic suspension systems

Ding

Zhang

et al. 2020

Intl J Robust & Nonlinear

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A mode decoupling control strategy is proposed for the active Kinetic Dynamic Suspension Systems (KDSS) with electrohydrostatic actuator (EHA) to improve the roll and warp mode performances. A matrix transfer method is employed to derive the modes of body and wheel station motions for full vehicle with active KDSS. The additional mode stiffness produced by the active KDSS is obtained and quantitatively described with the typical physical parameters. A new hierarchical feedback control strategy is proposed for the active KDSS to improve the roll and warp motion performances and simultaneously accounting for nonlinear dynamics of the actuators with hydraulic uncertainties. H∞ static output-feedback control is employed to obtain the desirable mode forces, and a new projection-based adaptive backstepping sliding mode tracking controller is designed for EHA to deal with address the nonlinearity and parameters uncertainty. This controller is used to realize the desirable pressure difference of EHA required from the target mode forces. Numerical simulations are presented to compare the roll and warp performances between the active KDSS, conventional spring-damper suspension, and suspension with antiroll bar under typical excitation conditions. The evaluation indices are normalized and compared with radar chart. The obtained results illustrate that the proposed active KDSS with proposed controller does not produce additional warp motion for vehicle body, and has achieved more reasonable tire force distribution among wheel stations, the roll stability, road holding, and significantly improved ride comfort simultaneously.

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Robust impedance control of a hydraulic suspension system

Cited by 29 publications

References 25 publications

Modeling and Robust Discrete LQ Repetitive Control of Electrically Driven Robots

Modeling and Robust Discrete LQ Repetitive Control of Electrically Driven Robots

Discrete-time repetitive optimal control: Robotic manipulators

Robust adaptive backstepping sliding mode control for motion mode decoupling of two‐axle vehicles with active kinetic dynamic suspension systems

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