Vibration control of coupled Duffing oscillators in flexible single-link manipulators

Huang, Jie; Ji, Jinchen

doi:10.1177/1077546320952598

Cited by 11 publications

(4 citation statements)

References 38 publications

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“…Owing to the complex structure of an AC, its dynamic model exhibits strong nonlinearity [4][5][6]. Considering the nonlinear dynamics, its control is a tough but attractive topic [7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

Zhang

Yin

2023

Nonlinear Dyn

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Articulating crane (AC), a widely used crane, plays an essential role in various industrial activities. Owing to its strong nonlinearity and uncertainty, its tracking control remains challenging, particularly for precise dynamic tracking control. This paper proposes an adaptive diffeomorphism-constraint-based control (ADCBC) for a nonlinear AC to robustly achieve trajectory tracking while guaranteeing desired dynamic control performance (DDCP), considering (possibly rapid and irregular) time-variant uncertainty with unknown bounds. A user-definable hard-limiting function was used to guarantee the DDCP, including the requirement for steady-state tracking error and dynamic convergence speed. The desired trajectories and DDCP were formulated as equality and inequality servo constraints, respectively. A diffeomorphism approach was adopted to incorporate inequality servo constraints into equality servo constraints, yielding new equality servo constraints. Thus, the control task was converted to enable the transformed AC to follow the new equality servo constraints and was completed by a constraint-based control (CBC) scheme, where an adaptive law was established for the estimation of online uncertainty bounds to compensate for uncertainty. No approximations or linearizations were invoked. The effectiveness and robustness of the proposed ADCBC were confirmed through rigorous proofs and simulation results. To the best of our knowledge, this is the first endeavor in tracking control while guaranteeing the DDCP for uncertain AC-like systems.

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Section: Introductionmentioning

confidence: 99%

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

Zhang

Yin

2023

Nonlinear Dyn

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“…Duffing-type vibration isolator (Huang and Ji, 2021; Ji and Zhang, 2010; Liu et al, 2022; Zhang et al, 2022), composed of a second-order linear system and a cubic nonlinear stiffness, has been extensively studied by engineers and scholars, due to its rich dynamic behaviors and strong engineering physics simulation capabilities (Lobo et al, 2019). Le and Ahn (2011) fabricated a Duffing-type vehicle seat and studied the static and dynamic characteristics.…”

Section: Introductionmentioning

confidence: 99%

Analytical jump-avoidance criteria of Duffing-type vibration isolation systems under base and force excitations based on concave-convex property

Liu

Peng

et al. 2022

Journal of Vibration and Control

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As a representative nonlinear system, Duffing oscillator has wide applications in the field of vibration control. This paper concentrates on the analytical jump criteria problem for a class of Duffing systems based on the concave-convex property. The mechanical model of Duffing-type isolators subjected to various excitations is firstly presented. The defined single critical jump point (SCJP) is proved to be an inflection point based on the concave-convex property of the dynamic response. Moreover, the analytical jump-avoidance criteria under base and force excitations are established. The sensitivities of dynamic parameters are discussed in detail, and several jump characteristics are revealed and explained. It turned out that the SCJP is inherent for Duffing systems. The key advantage is that the proposed jump-avoidance scheme can be used directly and independent of the solved dynamic response. In other words, this scheme provides a pure algebraic method for determining jumps and an accurate range of the adjustable parameters for practical applications. A series of numerical simulations and comparisons are conducted to demonstrate the effectiveness of the proposed analytical judgment method.

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“…Herrnstadt and Menon (2016) developed a single degree of freedom elbow orthosis and performed a linear modeling on the suppression system. The linear model has been widely used to design the control technology of homogeneous flexible manipulators (Huang and Ji, 2020). However, less work has been done on the nonlinear modeling of variable stiffness manipulators.…”

Section: Introductionmentioning

confidence: 99%

Optimal Trajectory Planning of the Variable-Stiffness Flexible Manipulator Based on CADE Algorithm for Vibration Reduction Control

Cheng

Liu

et al. 2021

Front. Bioeng. Biotechnol.

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Robotic manipulators are widely used for precise operation in the medical field. Vibration suppression control of robotic manipulators has become a key issue affecting work stability and safety. In this paper an optimal trajectory planning control method to suppress the vibration of a variable-stiffness flexible manipulator considering the rigid-flexible coupling is proposed. Through analyzing the elastic deformation of the variable-stiffness flexible manipulator, a distributed dynamic physical model of the flexible manipulator is constructed based on the Hamilton theory. Based on the mathematical model of the system, the design of the vibration damping controller of the flexible manipulator is proposed, and the control system with nonlinear input is considered for numerical analysis. According to the boundary conditions, the vibration suppression effect of the conventional and the variable-stiffness flexible manipulator is compared. The motion trajectory of the variable-stiffness flexible manipulator and compare the vibration response from different trajectories. Then, with minimum vibration displacement, minimum energy consumption and minimum trajectory tracking deviation as performance goals, the trajectory planning of the variable-stiffness flexible manipulator movement is carried out based on the cloud adaptive differential evolution (CADE) optimization algorithm. The validity of the proposed trajectory planning method is verified by numerical simulation.

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Vibration control of coupled Duffing oscillators in flexible single-link manipulators

Cited by 11 publications

References 38 publications

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

Analytical jump-avoidance criteria of Duffing-type vibration isolation systems under base and force excitations based on concave-convex property

Optimal Trajectory Planning of the Variable-Stiffness Flexible Manipulator Based on CADE Algorithm for Vibration Reduction Control

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