Networked Multi Manipulator System And Its Teleoperation Using Adaptive Non Singular Terminal Sliding Mode Control

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Networked Multi-Manipulator System and Its Teleoperation Using Adaptive Non-Singular Terminal Sliding Mode Control

Author : Henghua Shen
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (134 download)

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Book Synopsis Networked Multi-Manipulator System and Its Teleoperation Using Adaptive Non-Singular Terminal Sliding Mode Control by : Henghua Shen

Download or read book Networked Multi-Manipulator System and Its Teleoperation Using Adaptive Non-Singular Terminal Sliding Mode Control written by Henghua Shen and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Teleoperation of multiple robot manipulators has been one of the most popular research areas in the robotics research community for the last couple of decades. Such complex systems can be decoupled into two subsystems, namely, multi-agent systems (MASs) and teleoperation systems. In addition to the high nonlinearity of the networked multi-manipulator systems, deleterious effects, caused by network-induced constraints and the lack of exact robot modelling information, can make the control systems' desired performance and stability difficult to achieve. To meet these challenges, concepts from the non-singular terminal sliding mode (NTSM) control method are developed to achieve the exogenous disturbance rejection and the finite-time full-pose synchronization. Additionally, a new adaptive NTSM (ANTSM) scheme is designed for multi-manipulator systems where the models may be initially uncertain or slowly varying over time. To further improve the performance, a set of novel techniques are developed, including the use of novel mixed-type feedback, time-varying logistic-function-based control gain, and energy-index-based neighbour selection policy. The proposed ANTSM approach has also successfully been applied to the teleoperation control systems. In addition, the master manipulator uses a force predictor to estimate the real-time environmental force on the slave side so that the direct transmission of the force signals is avoided. The proposed approaches for the MASs and teleoperation subsystems are integrated into a single-master-multiple-slave manipulator system. Simulation and experimental results validate the efficacy of the proposed schemes.

Analysis and Design for Networked Teleoperation System

Author : Changchun Hua
Publisher : Springer
ISBN 13 : 981137936X
Total Pages : 247 pages
Book Rating : 4.8/5 (113 download)

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Book Synopsis Analysis and Design for Networked Teleoperation System by : Changchun Hua

Download or read book Analysis and Design for Networked Teleoperation System written by Changchun Hua and published by Springer. This book was released on 2019-05-24 with total page 247 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents cutting-edge results on stability analysis and control scheme designs for networked teleoperation systems. It highlights new research on commonly encountered nonlinear teleoperation systems, including the stability analysis of teleoperation systems with asymmetric time-varying delays, stability analysis of teleoperation systems with interval time delays, and so on. Moreover, the book presents several high-performance control scheme designs for teleoperation systems when the velocity is available and unavailable, and for systems with nonlinear input. The results presented here mark a substantial contribution to nonlinear teleoperation system theory, robotic control theory and networked control system theory. As such, the book will be of interest to university researchers, R&D engineers and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of networked teleoperation systems, robotic systems and nonlinear control systems.

Aerial Manipulation

Author : Matko Orsag
Publisher : Springer
ISBN 13 : 3319610228
Total Pages : 246 pages
Book Rating : 4.3/5 (196 download)

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Book Synopsis Aerial Manipulation by : Matko Orsag

Download or read book Aerial Manipulation written by Matko Orsag and published by Springer. This book was released on 2017-09-19 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.

A Robust Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators

Author : Wing Kin Yan
Publisher :
ISBN 13 :
Total Pages : 280 pages
Book Rating : 4.:/5 (225 download)

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Book Synopsis A Robust Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators by : Wing Kin Yan

Download or read book A Robust Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators written by Wing Kin Yan and published by . This book was released on 1998 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Discrete-Time Sliding Mode Control for Networked Control System

Author : Dipesh H. Shah
Publisher : Springer
ISBN 13 : 9811075360
Total Pages : 176 pages
Book Rating : 4.8/5 (11 download)

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Book Synopsis Discrete-Time Sliding Mode Control for Networked Control System by : Dipesh H. Shah

Download or read book Discrete-Time Sliding Mode Control for Networked Control System written by Dipesh H. Shah and published by Springer. This book was released on 2018-03-16 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents novel algorithms for designing Discrete-Time Sliding Mode Controllers (DSMCs) for Networked Control Systems (NCSs) with both types of fractional delays namely deterministic delay and random delay along with different packet loss conditions such as single packet loss and multiple packet loss that occur within the sampling period. Firstly, the switching type and non-switching type algorithms developed for the deterministic type fractional delay where the delay is compensated using Thiran’s approximation technique. A modified discrete-time sliding surface is proposed to derive the discrete-time sliding mode control algorithms. The algorithm is further extended for the random fractional delay with single packet loss and multiple packet loss situations. The random fractional delay is modelled using Poisson’s distribution function and packet loss is modelled by means of Bernoulli’s function. The condition for closed loop stability in all above situations are derived using the Lyapunov function. Lastly, the efficacy of the proposed DSMC algorithms are demonstrated by extensive simulations and also experimentally validated on a servo system.

Adaptive Control of Mechanical Manipulators

Author : John J. Craig
Publisher : Addison Wesley Publishing Company
ISBN 13 :
Total Pages : 152 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Adaptive Control of Mechanical Manipulators by : John J. Craig

Download or read book Adaptive Control of Mechanical Manipulators written by John J. Craig and published by Addison Wesley Publishing Company. This book was released on 1988 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Sliding Mode Control In Engineering

Author : Wilfrid Perruquetti
Publisher : CRC Press
ISBN 13 : 9780203910856
Total Pages : 440 pages
Book Rating : 4.9/5 (18 download)

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Book Synopsis Sliding Mode Control In Engineering by : Wilfrid Perruquetti

Download or read book Sliding Mode Control In Engineering written by Wilfrid Perruquetti and published by CRC Press. This book was released on 2002-01-29 with total page 440 pages. Available in PDF, EPUB and Kindle. Book excerpt: Provides comprehensive coverage of the most recent developments in the theory of non-Archimedean pseudo-differential equations and its application to stochastics and mathematical physics--offering current methods of construction for stochastic processes in the field of p-adic numbers and related structures. Develops a new theory for parabolic equat

Adaptive Neural Network Control of Robotic Manipulators

Author : Tong Heng Lee
Publisher : World Scientific
ISBN 13 : 9789810234522
Total Pages : 400 pages
Book Rating : 4.2/5 (345 download)

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Book Synopsis Adaptive Neural Network Control of Robotic Manipulators by : Tong Heng Lee

Download or read book Adaptive Neural Network Control of Robotic Manipulators written by Tong Heng Lee and published by World Scientific. This book was released on 1998 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction; Mathematical background; Dynamic modelling of robots; Structured network modelling of robots; Adaptive neural network control of robots; Neural network model reference adaptive control; Flexible joint robots; task space and force control; Bibliography; Computer simulation; Simulation software in C.

Adaptive Sliding Mode Control of Robotic Manipulators by Hybridisation

Author : Sze San Chong
Publisher :
ISBN 13 :
Total Pages : 122 pages
Book Rating : 4.:/5 (225 download)

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Book Synopsis Adaptive Sliding Mode Control of Robotic Manipulators by Hybridisation by : Sze San Chong

Download or read book Adaptive Sliding Mode Control of Robotic Manipulators by Hybridisation written by Sze San Chong and published by . This book was released on 1997 with total page 122 pages. Available in PDF, EPUB and Kindle. Book excerpt: Project studies the trajectory control of robotic manipulators. Part one is the comparison studies of trajectory control of a two link robotic manipulator using various control laws. Part two concerns the development of new control laws.

Robust and Adaptive Control

Author : Eugene Lavretsky
Publisher : Springer Science & Business Media
ISBN 13 : 1447143965
Total Pages : 506 pages
Book Rating : 4.4/5 (471 download)

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Book Synopsis Robust and Adaptive Control by : Eugene Lavretsky

Download or read book Robust and Adaptive Control written by Eugene Lavretsky and published by Springer Science & Business Media. This book was released on 2012-11-13 with total page 506 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robust and Adaptive Control shows the reader how to produce consistent and accurate controllers that operate in the presence of uncertainties and unforeseen events. Driven by aerospace applications the focus of the book is primarily on continuous-dynamical systems. The text is a three-part treatment, beginning with robust and optimal linear control methods and moving on to a self-contained presentation of the design and analysis of model reference adaptive control (MRAC) for nonlinear uncertain dynamical systems. Recent extensions and modifications to MRAC design are included, as are guidelines for combining robust optimal and MRAC controllers. Features of the text include: · case studies that demonstrate the benefits of robust and adaptive control for piloted, autonomous and experimental aerial platforms; · detailed background material for each chapter to motivate theoretical developments; · realistic examples and simulation data illustrating key features of the methods described; and · problem solutions for instructors and MATLAB® code provided electronically. The theoretical content and practical applications reported address real-life aerospace problems, being based on numerous transitions of control-theoretic results into operational systems and airborne vehicles that are drawn from the authors’ extensive professional experience with The Boeing Company. The systems covered are challenging, often open-loop unstable, with uncertainties in their dynamics, and thus requiring both persistently reliable control and the ability to track commands either from a pilot or a guidance computer. Readers are assumed to have a basic understanding of root locus, Bode diagrams, and Nyquist plots, as well as linear algebra, ordinary differential equations, and the use of state-space methods in analysis and modeling of dynamical systems. Robust and Adaptive Control is intended to methodically teach senior undergraduate and graduate students how to construct stable and predictable control algorithms for realistic industrial applications. Practicing engineers and academic researchers will also find the book of great instructional value.

Proceedings of 2022 Chinese Intelligent Systems Conference

Author : Yingmin Jia
Publisher : Springer Nature
ISBN 13 : 9811962030
Total Pages : 916 pages
Book Rating : 4.8/5 (119 download)

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Book Synopsis Proceedings of 2022 Chinese Intelligent Systems Conference by : Yingmin Jia

Download or read book Proceedings of 2022 Chinese Intelligent Systems Conference written by Yingmin Jia and published by Springer Nature. This book was released on 2022-09-26 with total page 916 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the 18th Chinese Intelligent Systems Conference, CISC 2022, which was held during October 15–16, 2022, in Beijing, China. The papers in these proceedings deal with various topics in the field of intelligent systems and control, such as multi-agent systems, complex networks, intelligent robots, complex system theory and swarm behavior, event-triggered control and data-driven control, robust and adaptive control, big data and brain science, process control, intelligent sensor and detection technology, deep learning and learning control guidance, navigation and control of aerial vehicles.

Variable Structure Systems

Author : Asif Sabanovic
Publisher : IET
ISBN 13 : 0863413501
Total Pages : 429 pages
Book Rating : 4.8/5 (634 download)

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Book Synopsis Variable Structure Systems by : Asif Sabanovic

Download or read book Variable Structure Systems written by Asif Sabanovic and published by IET. This book was released on 2004-10-08 with total page 429 pages. Available in PDF, EPUB and Kindle. Book excerpt: This unique book fulfils the definite need for an accessible book on variable structure systems and also provides the very latest results in research on this topic. Divided into three parts - basics of sliding mode control, new trends in sliding mode control, and applications of sliding mode control - the book contains many numerical design examples, so that readers can quickly understand the design methodologies and their applications to practical problems. Primarily aimed at students and researchers in the field, the book will also be useful for practising control engineers.

Robot and Multibody Dynamics

Author : Abhinandan Jain
Publisher : Springer Science & Business Media
ISBN 13 : 1441972676
Total Pages : 512 pages
Book Rating : 4.4/5 (419 download)

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Book Synopsis Robot and Multibody Dynamics by : Abhinandan Jain

Download or read book Robot and Multibody Dynamics written by Abhinandan Jain and published by Springer Science & Business Media. This book was released on 2010-12-17 with total page 512 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms, describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems, covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.

Neural Network Control Of Robot Manipulators And Non-Linear Systems

Author : F W Lewis
Publisher : CRC Press
ISBN 13 : 9780748405961
Total Pages : 470 pages
Book Rating : 4.4/5 (59 download)

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Book Synopsis Neural Network Control Of Robot Manipulators And Non-Linear Systems by : F W Lewis

Download or read book Neural Network Control Of Robot Manipulators And Non-Linear Systems written by F W Lewis and published by CRC Press. This book was released on 1998-11-30 with total page 470 pages. Available in PDF, EPUB and Kindle. Book excerpt: There has been great interest in "universal controllers" that mimic the functions of human processes to learn about the systems they are controlling on-line so that performance improves automatically. Neural network controllers are derived for robot manipulators in a variety of applications including position control, force control, link flexibility stabilization and the management of high-frequency joint and motor dynamics. The first chapter provides a background on neural networks and the second on dynamical systems and control. Chapter three introduces the robot control problem and standard techniques such as torque, adaptive and robust control. Subsequent chapters give design techniques and Stability Proofs For NN Controllers For Robot Arms, Practical Robotic systems with high frequency vibratory modes, force control and a general class of non-linear systems. The last chapters are devoted to discrete- time NN controllers. Throughout the text, worked examples are provided.

Synchronization Sliding Mode Control of Closed-kinematic Chain Robot Manipulators with Time-delay Estimation

Author : Tu T. C. Duong
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (139 download)

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Book Synopsis Synchronization Sliding Mode Control of Closed-kinematic Chain Robot Manipulators with Time-delay Estimation by : Tu T. C. Duong

Download or read book Synchronization Sliding Mode Control of Closed-kinematic Chain Robot Manipulators with Time-delay Estimation written by Tu T. C. Duong and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Closed-kinematic chain manipulators (CKCM) can provide higher positioning accuracy and greater payload handling capability than the conventional open-kinematic chain manipulators (OKCM), composed of serial linkages or rigid bodies. Their motions are achieved in all degrees-of-freedom (DOF) by the combined motion of their active joints. Despite the above advantages, CKCMs possess several drawbacks, such as the required synchronization of joint control due to the manipulator structure, limited workspace, and nonexistent closed-form solutions of forward kinematics. The implementation of model-based control schemes requires an accurate mathematical dynamic model of CKCMs, which is difficult, if not possible to obtain. As a result, control approaches proposed for CKCMs can achieve asymptotic stability, but require infinite time to converge to an equilibrium point. In this dissertation, to resolve the above issues, we propose a new control scheme for CKCMs. It is a model-free synchronization control scheme based on the concept of Sliding Mode Control (SMC), called Nonsingular Fast Terminal Sliding Mode Control (NFTSMC), in conjunction with the Time-Delay Estimation (TDE) method. This new control scheme is referred to as Syn-TDE-NFTSMC, whose operation principle and solutions for the above-mentioned drawbacks are briefly described as follows. First, the cross-coupling error is derived by combining position errors and synchronization errors to achieve the synchronization goal and then used to form a sliding mode surface for the NFTSMC. After that, a control law is developed based on the sliding mode surface to ensure faster asymptotic convergence of the errors of both position and synchronization of CKCMs, in a finite and minimal time. Then, the TDE control scheme with no prior knowledge of the manipulator dynamics is employed to estimate the unknown dynamics and disturbances, thereby rejecting the effects of chattering caused by the NFTSMC. Lyapunov stability theorem is employed to prove that the overall system, controlled by this new control scheme, achieves asymptotic convergence of errors, thereby achieving the system's asymptotic stability. To investigate the new control scheme, computer simulations will be conducted to study its control performance using MATLAB-Simulink. In the computer simulations, comparative performance studies with other existing control schemes will be conducted, presented, and discussed. Then, experiments of the developed control scheme applied to control the motion of a real 2-DOF CKCM will be carried out, presented, and discussed. Finally, directions for future research and investigations to further explore this newly developed control scheme will be provided.

Advances and Applications in Sliding Mode Control systems

Author : Ahmad Taher Azar
Publisher : Springer
ISBN 13 : 3319111736
Total Pages : 592 pages
Book Rating : 4.3/5 (191 download)

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Book Synopsis Advances and Applications in Sliding Mode Control systems by : Ahmad Taher Azar

Download or read book Advances and Applications in Sliding Mode Control systems written by Ahmad Taher Azar and published by Springer. This book was released on 2014-11-01 with total page 592 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes the advances and applications in Sliding mode control (SMC) which is widely used as a powerful method to tackle uncertain nonlinear systems. The book is organized into 21 chapters which have been organised by the editors to reflect the various themes of sliding mode control. The book provides the reader with a broad range of material from first principles up to the current state of the art in the area of SMC and observation presented in a clear, matter-of-fact style. As such it is appropriate for graduate students with a basic knowledge of classical control theory and some knowledge of state-space methods and nonlinear systems. The resulting design procedures are emphasized using Matlab/Simulink software.

Time-Synchronized Control: Analysis and Design

Author : Dongyu Li
Publisher : Springer Nature
ISBN 13 : 9811630895
Total Pages : 264 pages
Book Rating : 4.8/5 (116 download)

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Book Synopsis Time-Synchronized Control: Analysis and Design by : Dongyu Li

Download or read book Time-Synchronized Control: Analysis and Design written by Dongyu Li and published by Springer Nature. This book was released on 2022-01-10 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt: Previous research on fixed/finite-time sliding-mode control focuses on forcing a system state (vector) to converge within a certain time moment, regardless of how each state element converges. This book introduces a control problem with unique finite/fixed-time stability considerations, namely time-synchronized stability, where at the same time, all the system state elements converge to the origin, and fixed-time-synchronized stability, where the upper bound of the synchronized settling time is invariant with any initial state. Accordingly, sufficient conditions for (fixed-) time-synchronized stability are presented. These stability formulations grant essentially advantageous performance when a control system (with diversified subsystems) is expected to accomplish multiple actions synchronously, e.g., grasping with a robotic hand, multi-agent simultaneous cooperation, etc. Further, the analytical solution of a (fixed) time-synchronized stable system is obtained and discussed. Applications to linear systems, disturbed nonlinear systems, and network systems are provided. In addition, comparisons with traditional fixed/finite-time sliding mode control are suitably detailed to showcase the full power of (fixed-) time-synchronized control.