Stabilization of Robots With a Regulator Containing the Sigmoid Mapping

Martínez, D.; Rubio, José de Jesús; Vargas, Tomas Miguel; García, Virgilio Bocanegra; Ochoa, Genaro; Balcazar, Ricardo; Cruz, David Ricardo; Aguilar, Arturo; Novoa, Juan Francisco; Aguilar-Ibáñez, Carlos

doi:10.1109/access.2020.2994004

Cited by 47 publications

(20 citation statements)

References 34 publications

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“…It is shown as Equation 5, where LC denotes the linear controller to be designed. υ = (LC)e (5) In this paper, we consider that H(x) = x in Equation 2, and it should be noted that x 0 herein. Then Equation (4) can be rewritten as…”

Section: Ndi Indi and Findimentioning

confidence: 99%

“…Several nonlinear control approaches have been proposed to overcome the shortcomings of traditional linearization approaches [4][5][6][7][8][9][10]; one popular approach is nonlinear dynamic inversion (NDI) control. NDI control eliminates the nonlinearities in the aircraft system by state feedback, then the nonlinear model is transformed into a linear one controlled by a virtual linear input.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Finite Time Convergence Incremental Nonlinear Dynamic Inversion-Based Attitude Control for Flying—Wing Aircraft with Actuator Faults

2020

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In this paper, a two-loop fault-tolerant attitude control scheme is proposed for flying-wing aircraft with actuator faults. A regular nonlinear dynamic inversion (NDI) control is used in the outer attitude loop, and a finite time convergence incremental nonlinear dynamic inversion (FINDI) control combined with control allocation strategy is used in the inner angular rate loop. Prescribed performance bound (PPB) is designed to constrain the tracking errors within a residual set, so the prescribed system performance can be guaranteed. An optimal anti-windup (AW) compensator is introduced to solve the actuator saturation problem. Simulation results demonstrate the effectiveness of the proposed approach.

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Section: Ndi Indi and Findimentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Finite Time Convergence Incremental Nonlinear Dynamic Inversion-Based Attitude Control for Flying—Wing Aircraft with Actuator Faults

2020

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“…e proposed approach has some advantages over state-of-the-art methods, including the following: (1) it considers the available information of all components in the design procedure compared to [21][22][23]. erefore, the overall closed-loop stability is guaranteed theoretically through the Lyapunov stability theory [24][25][26][27][28][29]. (2) e design procedure of the proposed controller is simple and systematic compared to the other method [30,31].…”

Section: Introductionmentioning

confidence: 99%

A Linear Parameter Varying Control Approach for DC/DC Converters in All‐Electric Boats

et al. 2021

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Utilization of renewable energies in association with energy storage is increased in different applications such as electrical vehicles (EVs), electric boats (EBs), and smart grids. A robust controller strategy plays a significant role to optimally utilize the energy resources available in a power system. In this paper, a suitable controller for the energy resources of an EB which consists of a 5 kW solar power plant, 5 kW fuel cell, and 2 kW battery package is designed based on the linear parameter varying (LPV) controller design approach. Initially, all component dynamics are augmented, and by exploiting the sector-nonlinearity approach, the LPV representation is derived. Then, the LPV control method determines the suitable gains of the states’ feedbacks to provide the required pulse commands of the boost converters of the energy resources to regulate the DC-link voltage and supply the power of EB loads. Comparing with the state-of-the-art nonlinear control methods, the developed control approach assures the stability of the overall system, as it considers all component dynamics in the design procedure. The real-time simulation results demonstrate the performance of the designed controller in the creation of a constant DC-link voltage.

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“…The advancements in kinematics and control [9][10][11][12][13][14][15][16][17][18][19] have led towards safer robot behaviors, enabling the development of multiple robotic solutions for the rehabilitation of the upper limbs [20][21][22][23][24][25][26], some of them being developed until the stage of clinical trials.…”

Section: Introductionmentioning

confidence: 99%

Optimization of the ASPIRE Spherical Parallel Rehabilitation Robot Based on Its Clinical Evaluation

Tucan

Vaida

Ulinici

et al. 2021

IJERPH

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The paper presents the design optimization of the ASPIRE spherical parallel robot for shoulder rehabilitation following clinical evaluation and clinicians’ feedback. After the development of the robotic structure and the implementation of the control system, ASPIRE was prepared for clinical evaluation. A set of clinical trials was performed on 24 patients with different neurological disorders to obtain the patient and clinician acceptance of the rehabilitation system. During the clinical trials, the behavior of the robotic system was closely monitored and analyzed in order to improve its reliability and overall efficiency. Along with its reliability and efficiency, special attention was given to the safety characteristics during the rehabilitation task.

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Stabilization of Robots With a Regulator Containing the Sigmoid Mapping

Cited by 47 publications

References 34 publications

Finite Time Convergence Incremental Nonlinear Dynamic Inversion-Based Attitude Control for Flying—Wing Aircraft with Actuator Faults

Finite Time Convergence Incremental Nonlinear Dynamic Inversion-Based Attitude Control for Flying—Wing Aircraft with Actuator Faults

A Linear Parameter Varying Control Approach for DC/DC Converters in All‐Electric Boats

Optimization of the ASPIRE Spherical Parallel Rehabilitation Robot Based on Its Clinical Evaluation

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