The rigid-flexible nonlinear robotic manipulator: Modeling and control

Fenili, André; Balthazar, José Manoel

doi:10.1016/j.cnsns.2010.04.057

Cited by 51 publications

(26 citation statements)

References 5 publications

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“…The control proposed in this paper, uses the SDRE control [9]. Introducing the control in the considered system, it has the following system: Since the objective is to control the states 1 x and 2 x will be implemented in the controlled system:…”

Section: Application Of the Sdre Control Methodsmentioning

confidence: 99%

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Nonlinear dynamics and control strategies: On a energy harvester vibrating system with a linear form to non-ideal motor torquet

Iliuk

Balthazar

Tusset

et al. 2012

MATEC Web of Conferences

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Abstract. In this paper, we deal with the research of a vibrating model of an energy harvester device, including the nonlinearities in the model of the piezoelectric coupling and the non-ideal excitation. We show, using numerical simulations, in the analysis of the dynamic responses, that the harvested power is influenced by non-linear vibrations of the structure. Chaotic behavior was also observed, causing of the loss of energy throughout the simulation time. Using a perturbation technique, we find an approximate analytical solution for the non-ideal system. Then, we apply both two control techniques, to keep the considered system, into a stable condition. Both the State Dependent Ricatti Equation (SDRE) control as the feedback control by changing the energy of the oscillator, were efficient in controlling of the considered non-ideal system.

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Section: Application Of the Sdre Control Methodsmentioning

confidence: 99%

“…The SDRE method is a technique for nonlinear optimal control that synthesizes a feedback control law, which is a function of the state. The method linearizes the system around a point, so that you can use the same procedure of the method LQR (Linear Quadratic Regulator) [9]. Also we applied the feedback control method proposed by [10].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear dynamics and control strategies: On a energy harvester vibrating system with a linear form to non-ideal motor torquet

Iliuk

Balthazar

Tusset

et al. 2012

MATEC Web of Conferences

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“…It well known that a classical approach, i.e, integer order calculus permit us to obtain the equations of motion [4,5] using…”

Section: Figure 1 Two Link Planar Manipulatormentioning

confidence: 99%

The fractional-nonlinear robotic manipulator: Modeling and dynamic simulations

David¹,

Balthazar²,

Julio³

et al. 2012

AIP Conference Proceedings

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Abstract. In this paper, we applied the Riemann-Liouville approach and the fractional Euler-Lagrange equations in order to obtain the fractional-order nonlinear dynamics equations of a two link robotic manipulator. The aformentioned equations have been simulated for several cases involving: integer and non-integer order analysis, with and without external forcing acting and some different initial conditions. The fractional nonlinear governing equations of motion are coupled and the time evolution of the angular positions and the phase diagrams have been plotted to visualize the effect of fractional order approach. The new contribution of this work arises from the fact that the dynamics equations of a two link robotic manipulator have been modeled with the fractional Euler-Lagrange dynamics approach. The results reveal that the fractional-nonlinear robotic manipulator can exhibit different and curious behavior from those obtained with the standard dynamical system and can be useful for a better understanding and control of such nonlinear systems.

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“…Erdem and Alleyne [9], Terashima et al [10], Watanabe et al [11], Nekoo [12], Cree and Damaren [13], Shawky et al [14,15], and Fenili and Balthazar [16] considered serial manipulators in their studies and did not consider joint elasticities. Korayem et al [17] considered joint elasticities in the context of a serial manipulator.…”

Section: Introductionmentioning

confidence: 99%

Tracking control of elastic joint parallel robots via state-dependent Riccati equation

Kilicaslan

2015

Turk J Elec Eng & Comp Sci

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The rigid-flexible nonlinear robotic manipulator: Modeling and control

Cited by 51 publications

References 5 publications

Nonlinear dynamics and control strategies: On a energy harvester vibrating system with a linear form to non-ideal motor torquet

Nonlinear dynamics and control strategies: On a energy harvester vibrating system with a linear form to non-ideal motor torquet

The fractional-nonlinear robotic manipulator: Modeling and dynamic simulations

Tracking control of elastic joint parallel robots via state-dependent Riccati equation

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