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This paper presents a method to design and control a two-wheeled self-balancing robot and it focus on hardware description, signal processing, discrete Kalman filter algorithm, system modelling and PID backstepping controller design. In the system, signals from angle sensors are filtered by a discrete Kalman filter before being fed to the PID backstepping controller. The objectives of the proposed...
In order to solve the problem of impact in robotic force position control during the initial state, the hyperbolic tangent filter function which was constituted a non-linear PID was used to process tracking error and speed. A robot force and position controller without impact was achieved. The Popov method was applied to prove the stability of the system. Based on the force and position control experiment...
This paper proposes a PID type regulator that achieves not only the global asymptotic convergence of the robot joint velocities and position errors to zero but it also guarantees a prescribed performance for the position error transient that is independent of system constants and control parameters. The proportional term of the control input uses a transformed error (TP) which incorporates the desired...
High-gain proportional-integral-derivative (PID) position control involves some risk of unsafe behaviors in cases of abnormal events, such as unexpected environment contacts and temporary power failures. This paper proposes a new position-control method that is as accurate as conventional PID control during normal operation, but is capable of slow, overdamped resuming motion without overshoots from...
In this paper we present a fuzzy self-tuning algorithm to select the Proportional, Integral and Derivative gains of a PID controller according to the actual state of a robotic manipulator. The stability via Lyapunov theory for the closed loop control system is also analyzed and shown that is locally asymptotically stable for a class of gain matrices depending on the manipulator states. This feature...
In practice, there are many motor systems whose models are usually unknown or partially unknown. However, the majority of control schemes focus on model-dependent techniques. To cope up with unavailable dynamics, a model-free controlling problem for a DC motor system is investigated in this study. A robust higher-order differential feedback controller (HODFC), which does not depend on the model of...
As to the robot joint actuated by a pair of McKibben muscles, a CMAC neural network and PID based compound control algorithm is designed. The CMAC as a feed forward compensator realizes the reverse dynamic model of the robot joint. The PID controller realizes the feed back control in order to guarantee the stability of the system. The output of the compound controller is exerted to the robot joint...
This paper presents inverted pendulum with moving reference for the testing of stabilizing control algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masses. The motion of the two masses, that slide along the horizontal plane, is controllable for the purpose of platform stabilization. The usefulness of the idea presented is demonstrated using computer simulations...
In this paper, a novel hybrid fuzzy proportional-integral-derivative (PID) controller based on learning automata for optimal tracking of robot systems including motor dynamics is presented. Learning automata is used at the supervisory level for adjustment of the parameters of hybrid Fuzzy-PID controller during the system operation. The proposed method has better convergence rate in comparison with...
Shape memory alloy (SMA) composites offer a great potential as actuators because of its excellent power to weight ratio, smooth motion and silent actuation. However, SMA actuated robotic manipulator systems have severe hysteresis, system nonlinearities, model and parametric uncertainties those are often responsible for position inaccuracy in a regulation or tracking system. A simple and upstanding...
In this paper, we show that a biped robot can walk dynamically using a simple control technique inspired from human locomotion. We introduce four critical angles that affect robot speed and step length. Our control approach consists in tuning the PID parameters of each joint for increasing stability of the walk. This method could be easily implemented in real time because it needs acceptable calculation...
This article presents a novel on-line optimal control for tracking tasks on redundant robot manipulators for which inverse kinematics is not required. The controller is composed by a stabilization Cartesian PID control plus a joint space optimal control, which is in charge of improving tracking performance. The joint space dynamic optimal control is based on the gradient flow approach with the robot...
In this note we are concerned with PID control of rigid robots equipped with brushless DC (BLDC) motors when the electric dynamics of these actuators is taken into account. We show that a PID controller suffices to achieve local stability whereas an adaptive PD controller yields stability and global convergence to the desired link positions. We show that the effect of the adaptive part can be rendered...
The PID (proportional-integral-derivative) state observer to make an output feedback PID controller is suggested for robotic systems. When an inverse optimal PID controller (full state feedback one) is utilized with this PID state observer, an output feedback PID control system recovers the extended disturbance input-to-state stability (ISS) of a full state feedback PID control system, if only one...
This paper presents a PID control of a prototype transmission-based robot servo-actuator system (TBA) and its implementation using real time application interface (RTAI) under Linux. The PID control presented can achieve stability and performance requirement in terms of attenuation of disturbance due to gear shift. The control software has a real time multithread design. Verification test shows the...
This paper develops a novel control system design methodology that uniquely combines: concepts from thermodynamic exergy and entropy; Hamiltonian systems; Lyapunov's direct method and Lyapunov optimal analysis; electric AC power concepts; and power flow analysis. Relationships are derived between exergy/entropy and Lyapunov optimal functions for Hamiltonian systems. The methodology is demonstrated...
In this paper a controller for flexible joint robots (FJR) in presence of actuator saturation is proposed, its robust stability is analyzed, and it is implemented on a laboratory FJR. This controller consists of a composite structure, with a PD controller on the fast dynamics and a PID controller on slow dynamics. The need of powerful actuator is released through decrease of fast controller bandwidth...
An alternative approach that satisfies the problem of Cartesian tracking without using the model and without exact knowledge of Jacobian is proposed to guarantee exponential tracking. The scheme is a new sliding PID controller in Cartesian coordinates, whose control input is smooth, produces well-posed terminal attractors which gives rise to finite time convergence, a faster convergence regime than...
Based on a recent state-of-the-art image-based visual feedback control scheme in fixed uncalibrated camera proposed by the authors, the experimental verification is presented. However, image acquisition and processing for closed-loop control introduces technological challenges through the time delay induced by the CCD camera itself. Thus, to preserve the time domain algorithm and to avoid discretization...
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