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Passivity Lyapunov Based Controller Design For Trajectory Tracking Of Flexible Joint Manipulators
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Book Synopsis Passivity/Lyapunov Based Controller Design for Trajectory Tracking of Flexible Joint Manipulators by : National Aeronaut Administration (Nasa)
Download or read book Passivity/Lyapunov Based Controller Design for Trajectory Tracking of Flexible Joint Manipulators written by National Aeronaut Administration (Nasa) and published by Createspace Independent Publishing Platform. This book was released on 2018-07-10 with total page 58 pages. Available in PDF, EPUB and Kindle. Book excerpt: A passivity and Lyapunov based approach for the control design for the trajectory tracking problem of flexible joint robots is presented. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. Feedforward selection and solution is analyzed for a general model for flexible joints, and for more specific and practical model structures. Passivity theory is used to design a motor state-based controller in order to input-output stabilize the error system formed by the feedforward. Observability conditions for asymptotic stability are stated and verified. In order to accommodate for modeling uncertainties and to allow for the implementation of a simplified feedforward compensation, the stability of the system is analyzed in presence of approximations in the feedforward by using a Lyapunov based robustness analysis. It is shown that under certain conditions, e.g., the desired trajectory is varying slowly enough, stability is maintained for various approximations of a canonical feedforward. Sicard, Pierre and Wen, John T. and Lanari, Leonardo Unspecified Center...
Book Synopsis Passivity/Lyapunov Based Controller Design for Trajectory Tracking of Flexible Joint Manipulators by : Pierre Sicard
Download or read book Passivity/Lyapunov Based Controller Design for Trajectory Tracking of Flexible Joint Manipulators written by Pierre Sicard and published by . This book was released on 1992 with total page 53 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Trajectory Tracking of Flexible Joint Manipulators with Passivity Based Controller by : Pierre Sicard
Download or read book Trajectory Tracking of Flexible Joint Manipulators with Passivity Based Controller written by Pierre Sicard and published by . This book was released on 1993 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1992 with total page 1572 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis European Control Conference 1993 by :
Download or read book European Control Conference 1993 written by and published by European Control Association. This book was released on 1993-06-28 with total page 852 pages. Available in PDF, EPUB and Kindle. Book excerpt: Proceedings of the European Control Conference 1993, Groningen, Netherlands, June 28 – July 1, 1993
Book Synopsis Lyapunov-Based Control of Mechanical Systems by : Marcio S. de Queiroz
Download or read book Lyapunov-Based Control of Mechanical Systems written by Marcio S. de Queiroz and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 321 pages. Available in PDF, EPUB and Kindle. Book excerpt: The design of nonlinear controllers for mechanical systems has been an ex tremely active area of research in the last two decades. From a theoretical point of view, this attention can be attributed to their interesting dynamic behavior, which makes them suitable benchmarks for nonlinear control the oreticians. On the other hand, recent technological advances have produced many real-world engineering applications that require the automatic con trol of mechanical systems. the mechanism for de Often, Lyapunov-based techniques are utilized as veloping different nonlinear control structures for mechanical systems. The allure of the Lyapunov-based framework for mechanical system control de sign can most likely be assigned to the fact that Lyapunov function candi dates can often be crafted from physical insight into the mechanics of the system. That is, despite the nonlinearities, couplings, and/or the flexible effects associated with the system, Lyapunov-based techniques can often be used to analyze the stability of the closed-loop system by using an energy like function as the Lyapunov function candidate. In practice, the design procedure often tends to be an iterative process that results in the death of many trees. That is, the controller and energy-like function are often constructed in concert to foster an advantageous stability property and/or robustness property. Fortunately, over the last 15 years, many system the ory and control researchers have labored in this area to produce various design tools that can be applied in a variety of situations.
Book Synopsis Control of Underactuated Manipulators by : Jundong Wu
Download or read book Control of Underactuated Manipulators written by Jundong Wu and published by Springer Nature. This book was released on 2023-05-13 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.
Book Synopsis Lyapunov-Based Control of Robotic Systems by : Aman Behal
Download or read book Lyapunov-Based Control of Robotic Systems written by Aman Behal and published by CRC Press. This book was released on 2009-12-17 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lyapunov-Based Control of Robotic Systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurement-related issues, the authors use Lyapunov's direc
Book Synopsis Proceedings of the ... American Control Conference by :
Download or read book Proceedings of the ... American Control Conference written by and published by . This book was released on 1992 with total page 1118 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Adaptive Control of Robot Manipulators by : An-Chyau Huang
Download or read book Adaptive Control of Robot Manipulators written by An-Chyau Huang and published by World Scientific. This book was released on 2010 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.
Book Synopsis Adaptive Control for Robotic Manipulators by : Dan Zhang
Download or read book Adaptive Control for Robotic Manipulators written by Dan Zhang and published by CRC Press. This book was released on 2017-02-03 with total page 441 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Book Synopsis Control Design and Analysis for Underactuated Robotic Systems by : Xin Xin
Download or read book Control Design and Analysis for Underactuated Robotic Systems written by Xin Xin and published by Springer Science & Business Media. This book was released on 2014-01-03 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt: The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs. Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design and analysis presented in a systematic way particularly for the following examples: l directly and remotely driven Acrobots l Pendubot l rotational pendulum l counter-weighted Acrobot 2-link underactuated robot with flexible elbow joint l variable-length pendulum l 3-link gymnastic robot with passive first joint l n-link planar robot with passive first joint l n-link planar robot with passive single joint double, or two parallel pendulums on a cart l 3-link planar robots with underactuation degree two 2-link free flying robot The theoretical developments are validated by experimental results for the remotely driven Acrobot and the rotational pendulum. Control Design and Analysis for Underactuated Robotic Systems is intended for advanced undergraduate and graduate students and researchers in the area of control systems, mechanical and robotics systems, nonlinear systems and oscillation. This text will not only enable the reader to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the reader to address the challenges of more complex URSs.
Book Synopsis Robust Control Algorithms for Flexible Manipulators by : Kshetrimayum Lochan
Download or read book Robust Control Algorithms for Flexible Manipulators written by Kshetrimayum Lochan and published by CRC Press. This book was released on 2024-10-13 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
Book Synopsis Robust Control Algorithms for Two-link Flexible Manipulators by : Kshetrimayum Lochan
Download or read book Robust Control Algorithms for Two-link Flexible Manipulators written by Kshetrimayum Lochan and published by CRC Press. This book was released on 2024-10-13 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
Book Synopsis Lyapunov-based Hybrid Control for Robust Trajectory Tracking of Robotic Manipulators by : Shafiqul Islam
Download or read book Lyapunov-based Hybrid Control for Robust Trajectory Tracking of Robotic Manipulators written by Shafiqul Islam and published by . This book was released on 2010 with total page 534 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Government Reports Announcements & Index by :
Download or read book Government Reports Announcements & Index written by and published by . This book was released on 1993 with total page 1360 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robot Control 1991 (SYROCO'91) by : I. Troch
Download or read book Robot Control 1991 (SYROCO'91) written by I. Troch and published by Elsevier. This book was released on 2014-05-23 with total page 583 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains 92 papers on the state-of-the-art in robotics research. In this volume topics on modelling and identification are treated first as they build the basis for practically all control aspects. Then, the most basic control tasks are discussed i.e. problems of inverse kinematics. Groups of papers follow which deal with various advanced control aspects. They range from rather general methods to more specialized topics such as force control and control of hydraulic robots. The problem of path planning is addressed and strategies for robots with one arm, for mobile robots and for multiple arm robots are presented. Also covered are computational improvements and software tools for simulation and control, the integration of sensors and sensor signals in robot control.
