Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method

Araújo, José Mário; Bettega, Jason; Dantas, Nelson J. B.; Dórea, Carlos Eduardo Trabuco; Richiedei, Dario; Tamellin, Iacopo

doi:10.3390/app11219907

Cited by 9 publications

(4 citation statements)

References 37 publications

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“…R Y ∈ R 3N p ×3N p and R ∆T ∈ R 3N c ×3N c are tuning parameters that should be chosen for tradeoff between keeping the error small and, at the same time, the control effort as well. Indeed, low gains usually result in higher robustness and allow tackling unmodeled dynamics and the presence of delay sources (see e.g., [27]).…”

Section: Calculation Of the Optimal Tensionsmentioning

confidence: 99%

Using Pose-Dependent Model Predictive Control for Path Tracking with Bounded Tensions in a 3-DOF Spatial Cable Suspended Parallel Robot

Bettega¹,

Richiedei²,

Trevisani³

2022

Machines

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This paper proposes the preliminary results on a novel control architecture based on model predictive control (MPC) for cable-driven parallel robots (CDPRs) and applies them to a three degrees of freedom (3-DOF) robot with a suspended configuration, leading to a cable-suspended parallel robot (CSPR). The goal of the control scheme is ensuring accurate path tracking of the reference end-effector path, while imposing a priori positive cable tensions. To handle the nonlinearities characterizing the dynamic model that governs this kind of multibody system and to keep the computational effort low, a position-dependent MPC algorithm with an embedded integrator is designed to compute the optimal cable tensions required to track the end-effector commanded path. Such tensions must belong to the feasible domain defined through a lower bound, which is slightly greater than zero, to ensure that cables pull the end-effector, and an upper bound, to represent the maximum stress that cables can withstand without breaking. The resulting controller is nonlinear, although it performs a local linearization in the prediction at each time step to reduce the computational effort. The optimal tensions are then transformed into the commanded motor torques through the inverse dynamic model of the servomotors driving the winches, since no force measurement is adopted in the controller implementation. The control architecture is designed and numerically validated through a spatial CSPR with lumped end-effector, and driven by three cables (i.e., with a non-redundant configuration). Four different paths are assumed to highlight various features of the proposed controller.

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Section: Calculation Of the Optimal Tensionsmentioning

confidence: 99%

Using Pose-Dependent Model Predictive Control for Path Tracking with Bounded Tensions in a 3-DOF Spatial Cable Suspended Parallel Robot

Bettega¹,

Richiedei²,

Trevisani³

2022

Machines

Self Cite

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“…Araújo, J.M. et al [ 30 ] studied a two-link flexible robot arm’s vibration control with the effect of time delay. Hu, Y. and Ng, A.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Vibration Control Experimental System Design of a Flexible Arm Using Interactive Actuations from Shape Memory Alloy

Jin

Deng

2023

Sensors

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The flexible arm easily vibrates due to its thin structural characteristics, which affect the operation accuracy, so reducing the vibration of the flexible arm is a significant issue. Smart materials are very widely used in the research topic of vibration suppression. Considering the hysteresis characteristic of the smart materials, based on previous simulation research, this paper proposes an experimental system design of nonlinear vibration control by using the interactive actuation from shape memory alloy (SMA) for a flexible arm. The experiment system was an interactive actuator–sensor–controller combination. The vibration suppression strategy was integrated with an operator-based vibration controller, a designed integral compensator and the designed n-times feedback loop. In detail, a nonlinear vibration controller based on operator theory was designed to guarantee the robust stability of the flexible arm. An integral compensator based on an estimation mechanism was designed to optimally reduce the displacement of the flexible arm. Obtaining the desired tracking performance of the flexible arm was a further step, by increasing the n-times feedback loop. From the three experimental cases, when the vibration controller was integrated with the designed integral compensator, the vibration displacement of the flexible arm was much reduced compared to that without the integral compensator. Increasing the number of n-times feedback loops improves the tracking performance. The desired vibration control performance can be satisfied when n tends to infinity. The conventional PD controller stabilizes the vibration displacement after the 7th vibration waveform, while the vibration displacement approaches zero after the 4th vibration waveform using the proposed vibration control method, which is proved to be faster and more effective in controlling the flexible arm’s vibration. The experimental cases verify the effectiveness of the proposed interactive actuation vibration control approach. It is observed from the experimental results that the vibration displacement of the flexible arm becomes almost zero within less time and with lower input power, compared with a traditional controller.

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“…Yang et al [4] studied the lead-following consistency problem for multi-agent systems with input delays, where the controller has too many control parameters, and it is difficult to adjust the parameters in practical applications. Araújo et al [5] proposed a method for active vibration control to a two-link flexible robot arm in the presence of time delay, by means of robust pole placement. Singh et al [6] presented a method for assigning complex poles to second-order damped asymmetric systems by using state-feedback control while considering a constant time delay in the feedback control loop.…”

Section: Introductionmentioning

confidence: 99%

“…Singh et al [6] presented a method for assigning complex poles to second-order damped asymmetric systems by using state-feedback control while considering a constant time delay in the feedback control loop. In [5,6], only the case of fixed delay instead of time-varying delay was studied. The stability of a closed-loop system was analyzed by computing primary closed-loop poles and the associated critical time delay.…”

Section: Introductionmentioning

confidence: 99%

AUV Formation Coordination Control Based on Transformed Topology under Time-Varying Delay and Communication Interruption

Zhang

Chen

et al. 2022

JMSE

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Aiming at the control problem of autonomous underwater vehicle (AUV) pilot-following formation with communication delay and communication interruption, a controller based on feedback linearization and the PD control method is designed in this paper. Firstly, the nonlinear, strongly coupled vehicle model is transformed into a second-order model via the feedback linearization method, and then the formation coordination controller is designed based on consistency theory and the PD control method. The Markov random jump process is used to simulate the formation topology in the event of communication interruption. The condition of stable convergence of the AUV pilot-following formation is analyzed in the presence of time-varying delay and Markov transformation topology. A Lyapunov–Krasovskii equation is established, and linear matrix inequality (LMI) is used to solve the problem of communication interruption and communication delay. The boundary conditions of error convergence of the control system are obtained. Finally, the effectiveness of the formation coordination controller based on the second-order integral model under the unstable conditions of underwater acoustic communication is verified by simulation.

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Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method

Cited by 9 publications

References 37 publications

Using Pose-Dependent Model Predictive Control for Path Tracking with Bounded Tensions in a 3-DOF Spatial Cable Suspended Parallel Robot

Using Pose-Dependent Model Predictive Control for Path Tracking with Bounded Tensions in a 3-DOF Spatial Cable Suspended Parallel Robot

Nonlinear Vibration Control Experimental System Design of a Flexible Arm Using Interactive Actuations from Shape Memory Alloy

AUV Formation Coordination Control Based on Transformed Topology under Time-Varying Delay and Communication Interruption

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