Pub Date : 2024-04-10DOI: 10.1177/09596518241241547
Zhu Yang, Haibo Xie
Hypergravity centrifugal shaking table is widely used in the field of civil engineering and is considered to be the most effective means to study geotechnical earthquake disaster effect in the world today. Here, the structure of hypergravity centrifugal shaking table system is briefly introduced, and then the necessity and difficulty of the precise control of the position ring of the airborne shaking table in the hypergravity centrifugal shaking table are explained. On this premise, the system modeling and analysis of the unidirectional airborne shaking table with hypergravity are carried out in this paper. A new two-degree-of-freedom controller of the unidirectional airborne shaking table with hypergravity is designed by combining the [Formula: see text] control and an improved internal model control (IIMC) strategy, and the designed two-degree-of-freedom controller is experimentally verified. The experimental results show that compared with the traditional PID control strategy and the single [Formula: see text] control strategy, the two-degree-of-freedom controller designed in this paper can make the position loop control of the unidirectional airborne shaking table with hypergravity have higher control accuracy and anti-interference ability.
{"title":"Design of two-degree-of-freedom position tracking controller for hypergravity unidirectional airborne shaking table","authors":"Zhu Yang, Haibo Xie","doi":"10.1177/09596518241241547","DOIUrl":"https://doi.org/10.1177/09596518241241547","url":null,"abstract":"Hypergravity centrifugal shaking table is widely used in the field of civil engineering and is considered to be the most effective means to study geotechnical earthquake disaster effect in the world today. Here, the structure of hypergravity centrifugal shaking table system is briefly introduced, and then the necessity and difficulty of the precise control of the position ring of the airborne shaking table in the hypergravity centrifugal shaking table are explained. On this premise, the system modeling and analysis of the unidirectional airborne shaking table with hypergravity are carried out in this paper. A new two-degree-of-freedom controller of the unidirectional airborne shaking table with hypergravity is designed by combining the [Formula: see text] control and an improved internal model control (IIMC) strategy, and the designed two-degree-of-freedom controller is experimentally verified. The experimental results show that compared with the traditional PID control strategy and the single [Formula: see text] control strategy, the two-degree-of-freedom controller designed in this paper can make the position loop control of the unidirectional airborne shaking table with hypergravity have higher control accuracy and anti-interference ability.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"192 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140564575","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-10DOI: 10.1177/09596518241240157
Zheng Wang, Yuxuan Chang, Jiali Liu
This paper studies a reinforcement learning-based adaptive non-affine tracking control method for a class of uncertain mismatched non-affine nonlinear systems. The considered system is not only affected by external mismatched disturbances and internal uncertainties, but also influenced by the non-affine control structures. Firstly, an auxiliary integral system is developed for the purpose of isolating the non-affine control input. Secondly, by designing the actor-critic networks to evaluate the system control performance and generate the reinforcement signal, the unknown internal uncertainties can be handled. Thirdly, based on the output of reinforcement learning network, several disturbance compensation laws are constructed to address the adverse impact of matched and mismatched disturbances. As a result, a novel intelligent adaptive non-affine controller is proposed by integrating actor-critic reinforcement learning framework, disturbance compensation and adaptive laws. It has been proved that closed-loop system are stable and the tracking errors are bounded. The numerical simulation results show the effectiveness and superiority of the proposed method.
{"title":"Reinforcement learning-based adaptive tracking control for mismatched non-affine nonlinear systems with coupled uncertainties","authors":"Zheng Wang, Yuxuan Chang, Jiali Liu","doi":"10.1177/09596518241240157","DOIUrl":"https://doi.org/10.1177/09596518241240157","url":null,"abstract":"This paper studies a reinforcement learning-based adaptive non-affine tracking control method for a class of uncertain mismatched non-affine nonlinear systems. The considered system is not only affected by external mismatched disturbances and internal uncertainties, but also influenced by the non-affine control structures. Firstly, an auxiliary integral system is developed for the purpose of isolating the non-affine control input. Secondly, by designing the actor-critic networks to evaluate the system control performance and generate the reinforcement signal, the unknown internal uncertainties can be handled. Thirdly, based on the output of reinforcement learning network, several disturbance compensation laws are constructed to address the adverse impact of matched and mismatched disturbances. As a result, a novel intelligent adaptive non-affine controller is proposed by integrating actor-critic reinforcement learning framework, disturbance compensation and adaptive laws. It has been proved that closed-loop system are stable and the tracking errors are bounded. The numerical simulation results show the effectiveness and superiority of the proposed method.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"58 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140564699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-10DOI: 10.1177/09596518241242969
Yu Tang, Kaidong Bo, Gang Shen, Zhencai Zhu, Hui Xie, Zhiyuan Shi
Accurate force tracking of an electro-hydraulic force system (EHFS) is of great significance in various industrial applications. As the EHFS is inevitably confronted with hydraulic nonlinearities, dynamic variations and uncertain disturbances, the real-time force tracking performance is generally unsatisfactory, especially for high frequency command force signals. For reducing the force tracking error with relatively high frequency inputs, a Legendre polynomials expanded adaptive controller with inverse compensation is proposed in this paper. The proposed controller is constructed by introducing an offline designed inverse compensation (IC) controller and an online adaptive controller to the EHFS governed by traditional Proportional Integral (PI) controller, in which the former IC controller is acting as the inner loop controller and the latter adaptive controller is regarded as an outer controller. The inner loop IC controller with fixed control parameters is offline designed on the basis of traditional PI controller by means of the generalized projection identification algorithm and the zero magnitude error tracking technology, focusing on extending the real-time force tracking bandwidth of the EHFS. The outer loop online adaptive controller is developed by Legendre polynomials expanded adaptive filters with nonlinear mapping ability, whose weights are online updated by an adaptive tuning algorithm with the aim of handling system’s dynamic variations, nonlinearities and uncertain disturbances. The proposed controller is implemented on a real EHFS test rig by the xPC/Target rapid prototyping technique, and comparative experimental results demonstrate that the proposed controller can achieve much higher high frequency tracking performance than the traditional PI and IC controller commonly used in industry.
电液力系统（EHFS）的精确力跟踪在各种工业应用中具有重要意义。由于电液力系统不可避免地会面临液压非线性、动态变化和不确定干扰等问题，因此其实时力跟踪性能通常不尽如人意，尤其是对于高频指令力信号。为减少相对高频输入的力跟踪误差，本文提出了一种具有反补偿功能的 Legendre 多项式扩展自适应控制器。所提出的控制器是通过在由传统比例积分（PI）控制器控制的 EHFS 中引入离线设计的反补偿（IC）控制器和在线自适应控制器而构建的，其中前一个 IC 控制器作为内环控制器，后一个自适应控制器被视为外环控制器。在传统 PI 控制器的基础上，通过广义投影识别算法和零幅度误差跟踪技术，离线设计了具有固定控制参数的内环 IC 控制器，重点在于扩展 EHFS 的实时力跟踪带宽。外环在线自适应控制器由具有非线性映射能力的 Legendre 多项式扩展自适应滤波器开发，其权重通过自适应调整算法在线更新，旨在处理系统的动态变化、非线性和不确定干扰。利用 xPC/Target 快速原型技术，在真实的 EHFS 测试平台上实现了所提出的控制器，对比实验结果表明，所提出的控制器比工业中常用的传统 PI 和 IC 控制器能获得更高的高频跟踪性能。
{"title":"Investigation of Legendre polynomials expanded adaptive controller with inverse compensation for high frequency tracking of electro-hydraulic force systems","authors":"Yu Tang, Kaidong Bo, Gang Shen, Zhencai Zhu, Hui Xie, Zhiyuan Shi","doi":"10.1177/09596518241242969","DOIUrl":"https://doi.org/10.1177/09596518241242969","url":null,"abstract":"Accurate force tracking of an electro-hydraulic force system (EHFS) is of great significance in various industrial applications. As the EHFS is inevitably confronted with hydraulic nonlinearities, dynamic variations and uncertain disturbances, the real-time force tracking performance is generally unsatisfactory, especially for high frequency command force signals. For reducing the force tracking error with relatively high frequency inputs, a Legendre polynomials expanded adaptive controller with inverse compensation is proposed in this paper. The proposed controller is constructed by introducing an offline designed inverse compensation (IC) controller and an online adaptive controller to the EHFS governed by traditional Proportional Integral (PI) controller, in which the former IC controller is acting as the inner loop controller and the latter adaptive controller is regarded as an outer controller. The inner loop IC controller with fixed control parameters is offline designed on the basis of traditional PI controller by means of the generalized projection identification algorithm and the zero magnitude error tracking technology, focusing on extending the real-time force tracking bandwidth of the EHFS. The outer loop online adaptive controller is developed by Legendre polynomials expanded adaptive filters with nonlinear mapping ability, whose weights are online updated by an adaptive tuning algorithm with the aim of handling system’s dynamic variations, nonlinearities and uncertain disturbances. The proposed controller is implemented on a real EHFS test rig by the xPC/Target rapid prototyping technique, and comparative experimental results demonstrate that the proposed controller can achieve much higher high frequency tracking performance than the traditional PI and IC controller commonly used in industry.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"91 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140564697","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-08DOI: 10.1177/09596518241236925
Shaghayegh Gorji, Ahmad Fakharian, Rezvan Abbasi
In this paper, a novel passive formulation has been developed based on LMI to design passive state-observer for a wide range of Lipschitz nonlinear systems. During this formulation, a stable and strictly passive state-observer is provided in order to have passive closed-loop system. A new interconnection between passivity of subsystems and passivity/stability of the total closed-loop system has been presented. In this regard, some theorems are defined based on virtually Euler-Lagrange form of passivation. Due to using this form and the proposed theorems, the design process will simplify and speed up. A passivity-based control based on passive state-observer has been proposed to control the hepatitis B virus infection disease. The reliability of the proposed controller/observer has been examined using MATLAB/SIMULINK, where the simulation results and the sensitivity analysis demonstrate the capability of this novel approach.
{"title":"Passive observer-based controller design for a class of Lipschitz nonlinear time-varying systems with application to Hepatitis B disease","authors":"Shaghayegh Gorji, Ahmad Fakharian, Rezvan Abbasi","doi":"10.1177/09596518241236925","DOIUrl":"https://doi.org/10.1177/09596518241236925","url":null,"abstract":"In this paper, a novel passive formulation has been developed based on LMI to design passive state-observer for a wide range of Lipschitz nonlinear systems. During this formulation, a stable and strictly passive state-observer is provided in order to have passive closed-loop system. A new interconnection between passivity of subsystems and passivity/stability of the total closed-loop system has been presented. In this regard, some theorems are defined based on virtually Euler-Lagrange form of passivation. Due to using this form and the proposed theorems, the design process will simplify and speed up. A passivity-based control based on passive state-observer has been proposed to control the hepatitis B virus infection disease. The reliability of the proposed controller/observer has been examined using MATLAB/SIMULINK, where the simulation results and the sensitivity analysis demonstrate the capability of this novel approach.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"9 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140564479","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-06DOI: 10.1177/09596518241240185
Pengcheng Yang, Yuxue Li, Xiaoyuan Zhu
Timely fault detection is essential to flight safety of tandem rotor helicopter. In this paper, a fault detection method is proposed based on state estimation and the deviation between the measured value and the estimated value. Firstly, a polyhedral linear parameter varying (LPV) model is established to solve the nonlinear coupling problem of the helicopter in different moving directions. Then, to obtain actuator fault information, a robust state observer is developed to generate the residual. Meanwhile, a mixed [Formula: see text] algorithm is designed to calculate observer gain by configuring performance parameters, which makes the residuals both sensitive to actuator faults and robust to external disturbances. Furthermore, a dynamic threshold method is introduced to evaluate the residual signal for actuator fault detection. Finally, based on the 3-dof helicopter platform, the effectiveness of the proposed method is verified through comparative simulation and experimental tests.
{"title":"State estimation based actuator fault detection for tandem rotor helicopter with experimental validation","authors":"Pengcheng Yang, Yuxue Li, Xiaoyuan Zhu","doi":"10.1177/09596518241240185","DOIUrl":"https://doi.org/10.1177/09596518241240185","url":null,"abstract":"Timely fault detection is essential to flight safety of tandem rotor helicopter. In this paper, a fault detection method is proposed based on state estimation and the deviation between the measured value and the estimated value. Firstly, a polyhedral linear parameter varying (LPV) model is established to solve the nonlinear coupling problem of the helicopter in different moving directions. Then, to obtain actuator fault information, a robust state observer is developed to generate the residual. Meanwhile, a mixed [Formula: see text] algorithm is designed to calculate observer gain by configuring performance parameters, which makes the residuals both sensitive to actuator faults and robust to external disturbances. Furthermore, a dynamic threshold method is introduced to evaluate the residual signal for actuator fault detection. Finally, based on the 3-dof helicopter platform, the effectiveness of the proposed method is verified through comparative simulation and experimental tests.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"23 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140564481","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-06DOI: 10.1177/09596518241237080
Yunji Zhao, Jun Xu
To mitigate the impact of fault iconic feature shift and feature missing due to missing data values on bearing fault diagnosis, this paper proposes a fault diagnosis method based on a spatial frequency filter and a Multi-Scale feature recombination calibration network (MSRCN). First, the fault features are converted into frequency band features and feature enhancement is realized using Mel filters to weaken the effect of fault feature offset. Then, the spatial calibration module (SC) in the MSRCN is utilized to further improve the fault feature distribution and eliminate the fault feature offset problem. Next, to solve the fault feature missing problem, the remaining fault features are sampled by multi-scale reorganization using MSRCN to obtain new fault features, which overcomes the effect of fault feature missing on fault diagnosis. Finally, experiments are conducted on CWRU and XJTU-SY rolling bearing datasets to verify that the algorithm can effectively solve the fault feature offset and missing problem. Meanwhile, the experimental results prove that the algorithm proposed in this paper can realize high-precision fault diagnosis.
{"title":"Bearing fault diagnosis based on data missing and feature shift suppression strategy","authors":"Yunji Zhao, Jun Xu","doi":"10.1177/09596518241237080","DOIUrl":"https://doi.org/10.1177/09596518241237080","url":null,"abstract":"To mitigate the impact of fault iconic feature shift and feature missing due to missing data values on bearing fault diagnosis, this paper proposes a fault diagnosis method based on a spatial frequency filter and a Multi-Scale feature recombination calibration network (MSRCN). First, the fault features are converted into frequency band features and feature enhancement is realized using Mel filters to weaken the effect of fault feature offset. Then, the spatial calibration module (SC) in the MSRCN is utilized to further improve the fault feature distribution and eliminate the fault feature offset problem. Next, to solve the fault feature missing problem, the remaining fault features are sampled by multi-scale reorganization using MSRCN to obtain new fault features, which overcomes the effect of fault feature missing on fault diagnosis. Finally, experiments are conducted on CWRU and XJTU-SY rolling bearing datasets to verify that the algorithm can effectively solve the fault feature offset and missing problem. Meanwhile, the experimental results prove that the algorithm proposed in this paper can realize high-precision fault diagnosis.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"101 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140564490","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-04DOI: 10.1177/09596518241236980
Shuangkun Ru, Xiaohong Jiao
As an essential component of intelligent transportation systems (ITS), connected cruise control (CCC) has attracted much attention due to its potential to improve vehicle safety and reduce traffic congestion. However, besides the disturbance acting on the head vehicle of the platoon, the time-varying communication delay in vehicle-to-vehicle (V2V) also seriously impacts the CCC system’s stability. In this paper, we investigate a robust control scheme utilizing the Lyapunov-Krasovskii functional stability theory and [Formula: see text] technique to ensure the stability of the CCC system consisting of the connected and automated vehicle (CAV) and connected human-driven vehicles (CHVs) under random time-varying communication delay. The effectiveness and advantage of the designed robust controller are verified by MATLAB/Simulink simulation and comparison with the existing result of the literature.
{"title":"Robust H∞ control of heterogeneous connected vehicles platoon with random time-varying communication delay","authors":"Shuangkun Ru, Xiaohong Jiao","doi":"10.1177/09596518241236980","DOIUrl":"https://doi.org/10.1177/09596518241236980","url":null,"abstract":"As an essential component of intelligent transportation systems (ITS), connected cruise control (CCC) has attracted much attention due to its potential to improve vehicle safety and reduce traffic congestion. However, besides the disturbance acting on the head vehicle of the platoon, the time-varying communication delay in vehicle-to-vehicle (V2V) also seriously impacts the CCC system’s stability. In this paper, we investigate a robust control scheme utilizing the Lyapunov-Krasovskii functional stability theory and [Formula: see text] technique to ensure the stability of the CCC system consisting of the connected and automated vehicle (CAV) and connected human-driven vehicles (CHVs) under random time-varying communication delay. The effectiveness and advantage of the designed robust controller are verified by MATLAB/Simulink simulation and comparison with the existing result of the literature.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"1 2 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140564578","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-02DOI: 10.1177/09596518241241543
Yixu Zhao, Yunliang Wei, Wenhai Qi, Fei Wang
The asynchronous observer-based finite-time [Formula: see text] control problem for discrete-time singular Markovian jump systems with time-varying delays is studied, where the asynchronism of the controller and observer with respect to the original system is fully taken into consideration. By the use of finite-time analysis theory and the construction of suitable Lyapunov-Krasovskii functionals, sufficient conditions to determine the closed-loop error system is singular stochastic finite-time boundedness are given with [Formula: see text] performance level. Then, by applying linear matrix inequalities, the desired observer parameters and controller parameters can be computed. Finally, the effectiveness of our proposed method is confirmed by simulation.
{"title":"Observer-based finite-time H∞ control for discrete-time singular Markovian jump systems with asynchronous modes","authors":"Yixu Zhao, Yunliang Wei, Wenhai Qi, Fei Wang","doi":"10.1177/09596518241241543","DOIUrl":"https://doi.org/10.1177/09596518241241543","url":null,"abstract":"The asynchronous observer-based finite-time [Formula: see text] control problem for discrete-time singular Markovian jump systems with time-varying delays is studied, where the asynchronism of the controller and observer with respect to the original system is fully taken into consideration. By the use of finite-time analysis theory and the construction of suitable Lyapunov-Krasovskii functionals, sufficient conditions to determine the closed-loop error system is singular stochastic finite-time boundedness are given with [Formula: see text] performance level. Then, by applying linear matrix inequalities, the desired observer parameters and controller parameters can be computed. Finally, the effectiveness of our proposed method is confirmed by simulation.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"7 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140597381","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-02DOI: 10.1177/09596518241238414
Tugce Yaren, Selcuk Kizir
This paper proposes the spatial operator algebra-based computed torque control scheme applied to an anthropomorphic 3-degree of freedom robotic manipulator, which aims to reduce the computational cost of the classical methods and integrate the advantages of low computational cost into advanced robotic control systems. The computational cost is increased due to the calculations of the inverse dynamic and the feedback control loop. The spatial operator algebra (SOA) algorithm provides a systematic derivation, evaluation, and subsequent conceptual interpretation of the manipulator dynamics model. This paper presents a powerful and efficient solution for controlling the dynamics and trajectory of the manipulator. In order to show the efficiency of the solution, the Newton Euler (NE) based control schemes are also applied to the manipulator. The SOA-based controller significantly reduced the computational cost and performed approximately 60%–70% faster than the NE-based controller. Furthermore, different initial states, disturbances, and uncertainty tests are implemented and the SOA-based controller demonstrated successful performance under various conditions while maintaining a lower computational cost. In this study, the advantages and limitations of each method (SOA-based, NE-based) are evaluated and the potential benefits of using SOA in the computed torque control scheme are highlighted. The SOA-based controller, which was verified by simulation, is then implemented in real-time and showed successful performance.
本文提出了基于空间算子代数的计算扭矩控制方案，并将其应用于拟人三自由度机器人机械手，旨在降低经典方法的计算成本，并将低计算成本的优势融入先进的机器人控制系统中。反动态和反馈控制回路的计算增加了计算成本。空间算子代数 (SOA) 算法提供了对机械手动力学模型的系统推导、评估和后续概念解释。本文提出了一种控制机械手动态和轨迹的强大而高效的解决方案。为了显示该解决方案的效率，还将基于牛顿欧拉（NE）的控制方案应用于机械手。基于 SOA 的控制器大大降低了计算成本，比基于 NE 的控制器快约 60%-70%。此外，还实施了不同的初始状态、干扰和不确定性测试，基于 SOA 的控制器在各种条件下均表现出色，同时保持了较低的计算成本。本研究评估了每种方法（基于 SOA 和基于 NE）的优势和局限性，并强调了在计算扭矩控制方案中使用 SOA 的潜在优势。基于 SOA 的控制器经过仿真验证后，在实时环境中实施，并取得了成功。
{"title":"Efficiency assessment of SOA-based computed torque control: A comparative analysis with NE-based approach","authors":"Tugce Yaren, Selcuk Kizir","doi":"10.1177/09596518241238414","DOIUrl":"https://doi.org/10.1177/09596518241238414","url":null,"abstract":"This paper proposes the spatial operator algebra-based computed torque control scheme applied to an anthropomorphic 3-degree of freedom robotic manipulator, which aims to reduce the computational cost of the classical methods and integrate the advantages of low computational cost into advanced robotic control systems. The computational cost is increased due to the calculations of the inverse dynamic and the feedback control loop. The spatial operator algebra (SOA) algorithm provides a systematic derivation, evaluation, and subsequent conceptual interpretation of the manipulator dynamics model. This paper presents a powerful and efficient solution for controlling the dynamics and trajectory of the manipulator. In order to show the efficiency of the solution, the Newton Euler (NE) based control schemes are also applied to the manipulator. The SOA-based controller significantly reduced the computational cost and performed approximately 60%–70% faster than the NE-based controller. Furthermore, different initial states, disturbances, and uncertainty tests are implemented and the SOA-based controller demonstrated successful performance under various conditions while maintaining a lower computational cost. In this study, the advantages and limitations of each method (SOA-based, NE-based) are evaluated and the potential benefits of using SOA in the computed torque control scheme are highlighted. The SOA-based controller, which was verified by simulation, is then implemented in real-time and showed successful performance.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"13 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140597033","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-01DOI: 10.1177/09596518241238415
Jiazheng Liu, Yang Yang, Yaru Song
This paper investigates the asynchronous event-triggered guaranteed cost control problem for two-dimensional Markov jump Roesser systems with parameter uncertainties and actuator saturation. The hidden Markov model is constructed to characterize the asynchronous phenomenon induced by the mode mismatch between the system and the controller, and a hidden Markov model-based event-triggered mechanism is adopted in controller design to save communication resources. The convex hull representation is employed to process saturated inputs. By using the quadratic Lyapunov function methods and linear matrix inequality techniques, some sufficient criteria are developed to guarantee the asymptotic stability of the addressed system with a guaranteed cost under three different boundary conditions. Finally, a convex optimization algorithm with linear matrix inequality constraints is proposed to design the optimal asynchronous event-triggered guaranteed cost controller, and a numerical example is considered to demonstrate its validity.
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