Rotary flexible joint control by fractional order controllers

Al‐Saggaf, Ubaid M.; Mehedi, Ibrahim M.; Mansouri, Rachid; Bettayeb, Maâmar

doi:10.1007/s12555-016-0008-8

Cited by 35 publications

(28 citation statements)

References 10 publications

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“…The system is fractional order stable but is not Hurwitz stable [28][29][30] ing for a class of grippers with continuum arms. First, the fractional order model of continuum arm is proposed.…”

Section: Convergence Algorithm Proof the Following Lyapunov Functionmentioning

confidence: 99%

Fractional Order Control for the Grasping by Coiling

Ivănescu¹,

Mihaela²,

Vladu³

2020

Int J Robot Eng

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The paper studies the grasping control by coiling for a class of grippers with continuum arms. First, the fractional order model of continuum arm is proposed. The viscoelastic components are assimilated by the fractional Kevin-Voigt model and the fractional-order dynamics are inferred. A hybrid control technique with two control loops for position and force control, respectively, is proposed. The Lyapunov method for position control is applied. Sector-type constraints for input torque are implemented and frequential conditions, Popov Circle Criterion, that ensure asymptotic stability, are inferred. A conventional PD controller is proposed for the force control. Numerical simulations illustrate the performances of the control system.

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Section: Convergence Algorithm Proof the Following Lyapunov Functionmentioning

confidence: 99%

Fractional Order Control for the Grasping by Coiling

Ivănescu¹,

Mihaela²,

Vladu³

2020

Int J Robot Eng

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“…(7)(8) are guaranteed by the control input voltage given by Eq. (18). This yields that the equilibrium error state of the solution trajectories of the MPGI-based closed loop dynamics given by Eqs.…”

Section: Global Practical Asymptotic Stability Of Gdimentioning

confidence: 94%

“…(23) approaches to given by Eq. (18) showing that the constraint dynamics given by Eqs. (7)(8) are asymptotically stable as the elements of * are bounded.…”

Section: Gdi Singularity Avoidancementioning

confidence: 99%

“…However, the influence of chattering on the control signal is inevitable and therefore the selection of controller gain is a trade-off between smooth control action and tracking control accuracy. Besides these, state feedback based Fractional order controller is also designed for better tracking performance of servo cart system [16][17][18].…”

Section: Introductionmentioning

confidence: 99%

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Positional control of rotary servo cart system using generalized dynamic inversion

Ansari¹,

Mehedi²,

Bajodah³

et al. 2018

J. vibroeng.

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This paper presents the design approach of Generalized Dynamic Inversion (GDI) for angular position control of SRV02 rotary servo base system. In GDI, linear first order constraint differential equations are formulated based on the deviation function of angular position and its rate, and its inverse is calculated using Moore-Penrose Generalized Inverse to realize the control law. The singularity problem related to generalized inversion is solved by the inclusion of dynamic scaling factor that will guarantee the boundedness of the elements of the inverted matrix and stable tracking performance. Numerical simulations and real-time experiment are performed to evaluate the tracking performance and robustness capabilities of the proposed control law considering nominal and perturbed model dynamics. For comparative analysis, the results of GDI is compared with conventional PID control. Simulation and experimental results demonstrate better angular position tracking for the square-wave and sinusoidal waveforms, which reveals the superiority, and agility of GDI control over conventional PID.

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“…In particular, the authors of [22,23] discuss the stability properties of solutions of nonlinear Caputo fractional differential equations. The exponential stability of nonlinear FOM using the Lyapunov method was analyzed in [24,25]. Other control problems for a class of FOMs with delay were rigorously investigated in [26,27].…”

Section: Introductionmentioning

confidence: 99%

Exoskeleton Hand Control by Fractional Order Models

Ivănescu

Popescu

et al. 2019

Sensors

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This paper deals with the fractional order control for the complex systems, hand exoskeleton and sensors, that monitor and control the human behavior. The control laws based on physical significance variables, for fractional order models, with delays or without delays, are proposed and discussed. Lyapunov techniques and the methods that derive from Yakubovici-Kalman-Popov lemma are used and the frequency criterions that ensure asymptotic stability of the closed loop system are inferred. An observer control is proposed for the complex models, exoskeleton and sensors. The asymptotic stability of the system, exoskeleton hand-observer, is studied for sector control laws. Numerical simulations for an intelligent haptic robot-glove are presented. Several examples regarding these models, with delays or without delays, by using sector control laws or an observer control, are analyzed. The experimental platform is presented.

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Rotary flexible joint control by fractional order controllers

Cited by 35 publications

References 10 publications

Fractional Order Control for the Grasping by Coiling

Fractional Order Control for the Grasping by Coiling

Positional control of rotary servo cart system using generalized dynamic inversion

Exoskeleton Hand Control by Fractional Order Models

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