Synchronous Control of 2-D.O.F Master-Slave Manipulators Using Actuators With Asymmetric Nonlinear Dead-Zone Characteristics

Jung, DaeYi; Jeon, J. W.

doi:10.1109/access.2022.3153839

Cited by 10 publications

(13 citation statements)

References 28 publications

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“…where, M fj = B f v j , B f is resistance torque coefficient, M fj is resistance torque of traction shaft, T ej is electromagnetic torque, v j is angular velocity of traction shaft, R j is traction roller radius, and J j is traction roller equivalent moment of inertia. According to the formula (6) and the model of PMSM, 24 the tension system model of the traction shaft can be modified as follows…”

Section: Model Of Tension System On the Side Of The Traction Shaftmentioning

confidence: 99%

“…[3][4][5] Zheng et al improved the master-slave synchronous control by compensating for the actuator's dead-zone effect and enhancing the synchronization performance of the 2-DOF master-slave manipulator. 6 Li et al proposed a variable-gain adjacent cross-coupling controller, which adjusts the gain compensation through a fuzzy control algorithm. The synchronous control has better synchronization, higher tracking accuracy and coordination accuracy.…”

Section: Introductionmentioning

confidence: 99%

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Synchronous control system of virtual main-axis based on extended sliding mode disturbance observer

Zhou

Shao²,

Longbiao

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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A synchronous control system of virtual main-axis based on extended sliding mode disturbance observer is designed to solve some problems that coupling of multi-axis synchronous control of electronic gears is low and has poor anti-interference ability, and a large amount of synchronization error callback overshoot in bag-making machines. First, a velocity compensator is designed in order to establish the coupling relationship between the virtual and traction motor. Second, a nonsingular terminal sliding mode controller and a disturbance observer are used to enhance the anti-disturbance capability of the system. Finally, by using MATLAB/Simulink simulation, the viability and superiority of the method in multi-axis synchronous control are proved. The simulation results demonstrate that the control method decreases the synchronization error and the callback overshoot between the traction motors, and enhances the coupling performance and anti-interference ability of the system, which has a more significant impact on the high-performance synchronization control for the multi-traction motor system of the bag-making machine.

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Section: Model Of Tension System On the Side Of The Traction Shaftmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Synchronous control system of virtual main-axis based on extended sliding mode disturbance observer

Zhou

Shao²,

Longbiao

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

show abstract

“…The proposed approach was developed by combining graph theory and sliding mode control. In 2022, a synchronous control [16] was proposed for a 2-DOF master-slave manipulator against the asymmetric nonlinear dead-zone characteristics. The dead-zone issues were managed by the recursive least squares method.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Synchronization Sliding Mode Control for an Uncertain Dual-Arm Robot with Unknown Control Direction

2023

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In this paper, an adaptive synchronization sliding mode control is proposed for a dual-arm robot against parameter variations, external disturbance, and unknown control directions. The proposed control is designed by using cross-coupling error and sliding mode control to guarantee the position synchronization of the dual-arm manipulator. The control objective of the proposed control is to synchronize the movement of both arms beside the trajectory tracking issue. In order to manage the lumped uncertainties caused by the parameter variations, external disturbance, and unknown control directions, an extended state observer is used in the proposed control. It enhances the stability of the controlled system against uncertainties. Additionally, a Nussbaum gain function is integrated into the control algorithm to deal with the issue of unknown control direction. Lyapunov stability theory is used to demonstrate the stability of the controlled system. Finally, some simulations are implemented in MATLAB Simulink with a dual 3-DOF manipulator system. The results of the proposed control are compared to other controllers to verify its effectiveness.

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“…27 Deadzone estimation can also help to increase the quality of system control. In the work by Jung and Jeon, 28 the estimation of deadzone behavior has been done using recursive least square, and to control the system, passivity-based sliding mode control technique along with inverse deadzone control has been used. Due to deadzone uncertainties, adaptive control and backstepping method have also been used along with neural network estimations in some works.…”

Section: Introductionmentioning

confidence: 99%

Compensation of friction and stick-slip uncertainties in trajectory tracking control of servo DC machines considering actuation constraints

Ebrahimi,

Homaeinezhad

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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Nowadays, electric motors are common in many precision instrument industries that require high-precision control. If a suitable model of a servo system is available, accurate results can be obtained using a model-based control algorithm. The DC motor is one of the most widely used systems in precision industries, for which a high-precision controller can be designed using its mathematical model with feedback on position and velocity. In such systems and other rotating systems, it is necessary to consider friction in the control system design. Friction enters the system in the form of resistant force or torque in both static and kinetic states, which causes uncertainty in the dynamic modeling of the system, the stick-slip phenomenon, and creates a deadzone in the actuation system. In this article, considering a switching dynamic model for different states of a system subject to friction which has a saturation limit on the control input and an actuation system dependent on the angular velocity feedback, first, the stable reaching laws in two modes of position control and velocity control for different dynamic model switch modes are defined. Then, the control input that forces the tracking error to follow the corresponding reaching law for each control mode is calculated. In the next step, according to the limitations of the actuation system, such as saturation and deadzone, using the filtering mechanism and optimal search for each control mode, the desired values are filtered and it is guaranteed that the control input will be chosen within the allowed range. Finally, using the optimal switching mode selection mechanism, the optimal control mode is selected and the voltage is calculated as the next step input.

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Synchronous Control of 2-D.O.F Master-Slave Manipulators Using Actuators With Asymmetric Nonlinear Dead-Zone Characteristics

Abstract: Date of publication xxxx 00, 0000, date of current version xxxx 00, 0000.

Cited by 10 publications

References 28 publications

Synchronous control system of virtual main-axis based on extended sliding mode disturbance observer

Synchronous control system of virtual main-axis based on extended sliding mode disturbance observer

Adaptive Synchronization Sliding Mode Control for an Uncertain Dual-Arm Robot with Unknown Control Direction

Compensation of friction and stick-slip uncertainties in trajectory tracking control of servo DC machines considering actuation constraints

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