Motion Control Systems Sabanovic, Asif; Ohnishi, Kouhei
2011, 2011-01-14, 2011-03-10
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Motion Control Systemsis concerned with design methods that support the never-ending requirements for faster and more accurate control of mechanical motion. The book presents material that is ...fundamental, yet at the same time discusses the solution of complex problems in motion control systems. Methods presented in the book are based on the authors' original research results. Mathematical complexities are kept to a required minimum so that practicing engineers as well as students with a limited background in control may use the book. It is unique in presenting know-how accumulated through work on very diverse problems into a comprehensive unified approach suitable for application in high demanding, high-tech products. Major issues covered include motion control ranging from simple trajectory tracking and force control, to topics related to haptics, bilateral control with and without delay in measurement and control channels, as well as control of nonredundant and redundant multibody systems. Provides a consistent unified theoretical framework for motion control designOffers graduated increase in complexity and reinforcement throughout the bookGives detailed explanation of underlying similarities and specifics in motion controlUnified treatment of single degree-of-freedom and multibody systemsExplains the fundamentals through implementation examplesBased on classroom-tested materials and the authors' original research workWritten by the leading researchers in sliding mode control (SMC) and disturbance observer (DOB)Accompanying lecture notes for instructorsSimulink and MATLAB® codes available for readers to downloadMotion Control Systemsis an ideal textbook for a course on motion control or as a reference for post-graduates and researchers in robotics and mechatronics. Researchers and practicing engineers will also find the techniques helpful in designing mechanical motion systems.
State estimation (SE) is well-established at the transmission system level of the electricity grid, where it has been in use for the last few decades and is a most vital component of energy ...management systems employed in the monitoring and control centers of electric transmission systems. However, its use for the monitoring and control of power distribution systems (DSs) has not yet been widely implemented because DSs have been majorly passive with uni-directional power flows. This scenario is now changing with the advent of smart grid, which is changing the nature of electric distribution networks by embracing more dispersed generation, demand responsive loads, and measurements devices with different data rates. Thus, the development of distribution system state estimation (DSSE) tool is inevitable for the implementation of protection, optimization, and control techniques, and various other features envisioned by the smart grid concept. Due to the inherent characteristics of DS different from those of transmission systems, transmission system state estimation (TSSE) is not applicable directly to DSs. This paper is an attempt to present the state-of-the-art on DSSE as an enabler function for smart grid features. It broadly reviews the development of DSSE, challenges faced by its development, and various DSSE algorithms. Additionally, it identifies some future research lines for DSSE.
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Compliant mechanisms have great advantages to be used as micropositioning stages for high-precision applications but they are very sensitive to manufacturing tolerances and assembling errors. In this ...work, a novel compliant stage having 3-PRR kinematic structure and actuated by piezoelectric actuators is introduced. A kinematic modeling based on compliance of the flexible elements and finite element analysis based model have been extracted. It is found out that the experimental results are not compatible with the theoretical results due to the manufacturing, actuator assembly errors. The position control of the mechanism has been achieved using sliding mode control which is a great method for unpredictable varying parameters in the system. Sliding mode observer has also been used for the hysteresis and nonlinearities of the piezoelectric actuators. Experimental models for each actuation axis have been used as the nominal models for the sliding mode observer. In order to see the advantage of the control method simple PID control has also been implemented. It is seen that sliding mode control with sliding mode observer using experimental models reduces the position tracking errors to the range of the accuracy of our available measurement.
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Accurate position-tracking control in a belt-driven servomechanism can experience vibrations and large tracking errors due to compliance and elasticity introduced by force transmission through the ...belt and nonlinear-friction phenomenon. In this paper, a new control algorithm which is based on a sliding-mode control that is able to deal with these problems is proposed. In order to further optimize position-tracking performance, the control scheme has been extended by an asymptotic disturbance observer. It has been proven that robust and vibration-free operation of a linear-belt-driven system can be achieved. The experiments presented in this paper show improved position-tracking error response while maintaining vibration suppression.
The main research topic of this paper is to apply the sliding mode based soft actuation to smooth transition between position, force, and impedance control, and realize bilateral control and ...reproduction of the haptic motion. The proposed design rests on the sliding mode two steps procedure: in the first step, the generalized error — the sliding mode function — is selected in such a way that a closed loop system exhibits a desired dynamics. In the soft actuation method, the generalized error depends on the position and the force, thus allowing the modification of the position tracking if interaction with the environment appears. In the second step, the control is selected to enforce the desired convergence rate and the stability of the closed loop dynamics. The control allows “natural — human-like” behavior. The application to the bilateral control and reproduction of the haptic motion is discussed in detail and verified by experiments.
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In this paper, a sliding-mode-based design framework for fully actuated mechanical multibody system is discussed. The framework is based on the possibility to represent complex motion as a collection ...of tasks and to find effective mapping of the system coordinates that allows decoupling task and constraint control so one is able to enforce concurrently, or in certain time succession, the task and the constraints. The approach seems naturally encompassing the control of motion systems in interaction, and it allows application to bilateral control, multilateral control, etc. Such an approach leads to a more natural interpretation of the system tasks, simpler controller design, and easier establishment of the systems hierarchy. It allows a unified mathematical treatment of task control in the presence of constraints required to be satisfied by the system coordinates. In order to show the applicability of the proposed techniques, simulation and experimental results for high-precision systems in microsystem assembly tasks and bilateral control systems are presented.
This paper presents unified force and position control based on sliding mode control (SMC) for a series elastic actuator (SEA). Compliant motion of robotic systems is crucial when dealing with ...unstructured environments as in the case of physical human-robot interaction. Therefore, not only traditional mechanical systems with stiff joints but also mechanically compliant systems such as SEAs have been actively studied. In order to accomplish versatile tasks, the strategy enabling both position control and force control is favorable. In this paper, the controller synthesizing position and force controllers on the basis of SMC for the control problem of SEAs is proposed by extending our previous work. Simulation results demonstrate the feasibility of the proposed method.
Owing to the increasing engagement of service robots in everyday life, significant requirements are imposed on their control systems to ensure safe interaction between robots and humans. The ...stiffness of the motion executed by the service robots is not high, as with industrial robots, but has to be variable depending on the defined task. Therefore, a service robot needs to have soft actuation, delivering "human-like" motion dependant on the interaction force between the robot and its environment. Such an operation requires switching from the trajectory tracking (position control) mode to the interaction (force control) mode, and vice versa . Conventional control methods, based on hybrid position/force control, or switching between a position and force controller, may fail short in these cases. Thus, we have previously proposed a new control method, denoted as universal motion controller, that merges the position and force control into a single control structure. The control method is elaborated in this article, and its experimental validation is presented for the first time for multi-degree-of-freedom systems.
In this paper, a method that allows for the merger of the good features of sliding-mode control and neural network (NN) design is presented. Design is performed by applying an NN to minimize the cost ...function that is selected to depend on the distance from the sliding-mode manifold, thus providing that the NN controller enforces sliding-mode motion in a closed-loop system. It has been proven that the selected cost function has no local minima in controller parameter space, so under certain conditions, selection of the NN weights guarantees that the global minimum is reached, and then the sliding-mode conditions are satisfied; thus, closed-loop motion is robust against parameter changes and disturbances. For controller design, the system states and the nominal value of the control input matrix are used. The design for both multiple-input-multiple-output and single-input-single-output systems is discussed. Due to the structure of the (M)ADALINE network used in control calculation, the proposed algorithm can also be interpreted as a sliding-mode-based control parameter adaptation scheme. The controller performance is verified by experimental results
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