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2 edition of robust design method for impedance control of constrained dynamic systems found in the catalog.

robust design method for impedance control of constrained dynamic systems

Homayoon Kazerooni

robust design method for impedance control of constrained dynamic systems

by Homayoon Kazerooni

  • 256 Want to read
  • 34 Currently reading

Published by MIT Sea Grant College Program, Massachusetts Institute of Technology in Cambridge .
Written in English

    Subjects:
  • Manipulators (Mechanism),
  • Mechanical impedance.

  • Edition Notes

    StatementHomayoon Kazerooni.
    SeriesMITSG -- 85-35TN.
    ContributionsMassachusetts Institute of Technology.
    The Physical Object
    Pagination138 p. :
    Number of Pages138
    ID Numbers
    Open LibraryOL16110055M

    An input-output decoupling dynamic feedback strategy is introduced as a method to control a CSTR model which is not input-output decouplable by means of a static state feedback. to the design of nonlinear process control systems. The basic idea of the design approach presented in this paper is to combine these techniques for open loop. Robust Control Design: An Optimal Control Approach will be of interest to those needing an introductory textbook on robust control theory, design and applications as well as graduate and postgraduate students involved in systems and control research. Practitioners will also find the applications presented useful when solving practical problems.

    To achieve precise trajectory tracking of robotic manipulators in complex environment, the precise dynamic model, parameters identification, nonlinear characteristics, and disturbances are the factors that should be solved. Although parameters identification and adaptive estimate method were proposed for robotic control in many literature studies, the essential factors, such as coupling and. Variable structure control with sliding mode is used to implement the hybrid control strategy. Two variable structure control algorithms are developed in task space. One of the algorithms is based on hierarchical control method, and the other is developed for control of robot manipulators used to carried out both unconstrained and constrained.

      The ultimate goal of this book is to design simplified structure and low order robust control algorithms for different dynamic systems with wide range of system parameters variation. These algorithms are based on QFT, H2, H-infinity and interval tools which represent the most popular and well developed robust s: 1. Dynamic Systems and Control Division ISBN: Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems Sliding Mode Coordination Control Design for Multiagent Systems. Masood Ghasemi, Sergey G. Nersesov. DSCC ; VT33A doi.


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Robust design method for impedance control of constrained dynamic systems by Homayoon Kazerooni Download PDF EPUB FB2

A robust design method for impedance control of constrained dynamic systems Thesis (Sc.D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, MICROFICHE COPY AVAILABLE IN ARCHIVES AND ENGINEERING.

Bibliography: leaves Download Citation | A robust design method for impedance control of constrained dynamic systems | Thesis (Sc.D.)--Massachusetts Institute of Technology, Dept.

of. The robust adaptive impedance control is designed to obtain fast and accurate force tracking. The proposed controller does not require special knowledge of robot dynamics and environment models. Lyapunov-based Model Reference Adaptive Control is used Author: Indrawanto Indrawanto, J Swevers, H.

Van Brussel. This chapter presents a design method and stability analysis for discrete time pole placement adaptive control systems with input rate saturation constraints. It is shown that with appropriate design, the robust adaptive control system is stable for a class of uncertain stable minimum phase plants in the sense that all the signals in the loop Cited by: 6.

Introduction and Perspective.- Robust Stability Analysis of Linear State Space Systems.- Performance Robustness Analysis via Root Clustering (Robust D-Stability).- Robust Control Design for Linear Uncertain State Space Systems.- Applications to Engineering Systems.- Related and Emerging Topics.

By choosing a suitable model for the application, robust motion control, impedance control, hybrid position/force control, or constrained motion control are achieved respectively. A design method for analyzing the convergence of the learning impedance system is developed.

A sufficient condition for guaranteeing the convergence of the system is also derived. Design of robust systems by the phase constraint variation method is studied. In this method, some sufficient condition must be satisfied on the variation boundary of the constrained phase domain.

The solution is determined in the class of linear systems for modular and quadratic constraints. design. In such control systems, a simple contact with working surface may lead notable problems; because the system dynamics change and in consequence, the closed loop system stability is not guaranteed anymore.

Hybrid position/force control and impedance control are the most noticeable methods that used to control of robots which involve their. Robust and Adaptive Control Workshop Adaptive Control: Introduction, Overview, and Applications Nonlinear Dynamic Systems and Equilibrium Points • A nonlinear dynamic system can usually be represented by a set of n differential equations in the form: – x is the state of the system – t is time •If f does not depend explicitly on time.

The strategy proposed is based on impedance control. Impedance control is a parameter-adaptive approach to manipulation aimed at modulating the effective dynamic behavior of a robot, rather than just its end-effector force or motion. To apply impedance control to robotic deburring, a simple model of the deburring process is developed.

Robust Motion/Force Control of Mechanical Systems with Classical Nonholonomic Constraints Article (PDF Available) in IEEE Transactions on Automatic Control 39(3) - April with Reads. Adaptive motion and force control of manipulators in constrained motion in the presence of parametric uncertainties both in the robot and contact surfaces are considered in this paper.

A new constrained dynamic model is obtained to account for the effect of contact surface friction. We propose a nonlinear robust model reference adaptive impedance controller for an active prosthetic leg for transfemoral amputees.

We use an adaptive control term to consider the uncertain parameters of the system, and a robust control term so the system trajectories converge to a sliding mode boundary layer and exhibit robustness to variations of ground reaction force (GRF).

The aim of this section is to present the design of a controller robust and fast enough to track the trajectories in position and force.

Robust hybrid impedance control of robot manipulators via a tracking control method. IEEE international conference on intelligent robot ASME Journal of Dynamic Systems, Measurements and Control, (2. Hogan,“Impedance control of robots with harmonic drive system,” Proceeding of the American Control Conference, 1, pp.

– J. Chapel,“Attaining impedance control objectives using H∞ design methods,” Proceeding of IEEE International Conference on Robotics and Automation, 2, pp.

– A new method for designing linear MIMO control systems using constant and dynamic output feedback is presented.

The direct algebraic controller design is based on a new representation of linear systems using generalized Fourier series expansions for the state, input and output signals. In this paper, adaptive robust control of fully constrained cable-driven parallel robots with elastic cables is studied in detail.

A composite controller is proposed for the system under the assumption of linear axial spring model as the dominant dynamics of the cables and in presence of model uncertainties.

The proposed controller which is designed based on the singular perturbation theory. Therefore, a robust control design method with a model is proposed to solve control problem of the secondary PSP.

Theoretical and experimental results show that the secondary PSP brings better active and passive disturbance suppression ability for the stability control of the primary PSP. A mixed optimal/robust control is proposed in this paper for the tracking constrained robotic systems under para-metric uncertainties and external perturbations.

The dynamic model of the. Impedance control is an approach to dynamic control relating force and position. It is often used in applications where a manipulator interacts with its environment and the force position relation is of concern.

Examples of such applications include humans interacting with robots, where the force produced by the human relates to how fast the robot should move/stop.A novel robust impedance control approach is developed to control dynamic behavior of a vehicle subject to road disturbances.

This behavior is predetermined as an impedance rule to achieve passenger comfort and vehicle handling by the use of a hydraulically actuated suspension system.A short note on constrained linear control systems with multiplicative ellipsoidal uncertainty Boris Houska1, Adeleh Mohammadi2, Moritz Diehl3 Abstract—This paper revisits the classical robust control question of how to design linear control laws for uncertain linear dynamic systems.

We formulate this robust control design.