Article
Chemistry, Multidisciplinary
Chong Wu, Kai Guo, Jie Sun
Summary: This paper proposes a dual PID adaptive variable impedance control algorithm for achieving high-precision constant force control in robot grinding. The stability, convergence, and effectiveness of the algorithm are verified through theoretical analysis, simulations, and experiments. The experimental results demonstrate that the algorithm can achieve force tracking error control and improve surface quality.
APPLIED SCIENCES-BASEL
(2023)
Article
Engineering, Aerospace
S. Jamal Haddadi, P. Zarafshan, M. Dehghani
Summary: This paper presents the analysis, design, and fabrication of an Octorotor Miniature Aerial Vehicle (MAV), which can act as an autonomous robot in outdoor environments for carrying high payloads. The design process includes mechanical and electronic subsystems, with detailed discussions on aerodynamics analysis, body components, propulsion system, hardware selection, and control system design. Stabilization control scheme, including PID controllers, and a Fuzzy-PID controller are considered to improve performance, with simulation and implementation results studied and compared in two case studies.
AEROSPACE SCIENCE AND TECHNOLOGY
(2022)
Article
Automation & Control Systems
Kai Guo, Zekun Zhang, Dong-Dong Zheng, Jie Sun
Summary: This article proposes a novel OBE algorithm that improves system robustness and tracking capability by constraining the learning gain matrix. The robot dynamics are reconstructed through neural networks, and the partial asymptotic stability of the closed-loop system is demonstrated using the Lyapunov method. Experimental results validate the effectiveness of the proposed approach.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2023)
Article
Automation & Control Systems
Longxiang Wang, Chin-Yin Chen, Chongchong Wang, Kaichen Ying, Yanbiao Li, Guilin Yang
Summary: When the stiffness of the environment or people suddenly increases, the robot is prone to instability. This paper proposes an improved observer stabilization method to eliminate the influence of high-frequency noise and reduce misdiagnosis, and ensure the stable operation of the adaptive algorithm by updating the initial environment stiffness.
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
(2023)
Article
Engineering, Aerospace
Feilong Zhang, Bi Zhang, Bing Han, Danyang Qu, Xingang Zhao
Summary: This paper introduces a method for building a simulated weightless test system on the ground, and comprehensive comparisons of design controllers for a large and heavy multijointed space station robot. By conducting preliminary testing in a 6-DOF industrial robot, gravity compensation is included in the dynamic control algorithm to replace the function of microgravity environment. Finally, experiments are conducted to validate the feasibility of this method.
INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING
(2022)
Article
Automation & Control Systems
Lei Qiao, Min Zhao, Chao Wu, Tong Ge, Rui Fan, Weidong Zhang
Summary: This article introduces two novel adaptive PID controllers for trajectory tracking of robotic manipulators with robustness against uncertainties and adaptiveness to unknown parameters. The controllers guarantee eventual asymptotic convergence of tracking errors and offer better robustness compared to existing controllers. Simulation studies and comparisons demonstrate the superiority of the proposed controllers.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Construction & Building Technology
Fenghua Liu, Wenli Liu, Hanbin Luo
Summary: Ensuring the operational stability of pipeline maintenance robots in poor-perception pipeline environments is crucial for the safety of urban areas. This research proposes a framework to evaluate and improve the operational stability of buried pipeline robots, utilizing control strategies, qualitative analysis, and a hybrid GA-PSO and PID controller. Simulation and laboratory-level experiments demonstrate the effectiveness of the proposed framework, with significant improvements in tracking accuracy compared to other methods.
TUNNELLING AND UNDERGROUND SPACE TECHNOLOGY
(2023)
Article
Engineering, Electrical & Electronic
Fabio A. A. Andrade, Ihannah P. Guedes, Guilherme F. Carvalho, Alessandro R. L. Zachi, Diego B. Haddad, Luciana F. Almeida, Aurelio G. de Melo, Milena F. Pinto
Summary: This study proposes a method for online tuning of PID gains of a UAV motion controller using fuzzy logic strategy, which can be applied to any UAV without its specific mathematical model. Comparative analysis with other tuning methods and PID controller shows that the proposed method achieves faster response time and smaller error amplitudes in driving the UAV to the desired setpoint.
Article
Automation & Control Systems
Feng Zhou, Min Gan, C. L. Philip Chen
Summary: The article introduces a robust model predictive control algorithm with variable feedback gains for output tracking, which enlarges the feasible region of the robust controller and enhances the control performance through constructing polytopic state-space models.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Automation & Control Systems
Isaac Gandarilla, Victor Santibanez, Jesus Sandoval, Jose Guadalupe Romero
Summary: This paper addresses the issue of joint position regulation of a self-balancing robot moving on a slope through a PID passivity-based controller. Two PID passivity-based control laws are introduced and their respective asymptotic stability analysis is presented. Experimental results demonstrate the performance of the proposed controllers, with one of the PID passivity-based control laws showing superiority in disturbance rejection compared to the other three controllers.
CONTROL ENGINEERING PRACTICE
(2021)
Article
Computer Science, Artificial Intelligence
Loris Roveda, Andrea Testa, Asad Ali Shahid, Francesco Braghin, Dario Piga
Summary: Physical human-robot collaboration is in high demand in various contexts. This work proposes a Q-Learning-based Model Predictive Variable Impedance Control method to assist operators in physical human-robot collaboration tasks and improve performance. The proposed approach has been validated through experimental tests and demonstrated its applicability in real industrial scenarios.
ARTIFICIAL INTELLIGENCE
(2022)
Article
Computer Science, Artificial Intelligence
Bingshan Hu, Binghao Mao, Sheng Lu, Hongliu Yu
Summary: This paper presents a design of a variable stiffness joint for upper limb rehabilitation training, which utilizes a special curved surface and employs a back propagation neural network PID control strategy to enhance torque control performance.
FRONTIERS IN NEUROROBOTICS
(2022)
Article
Automation & Control Systems
Victor M. Hernandez-Guzman, Jorge Orrante-Sakanassi
Summary: This study introduces a control scheme for direct-drive BLDC motors to solve the position control problem when actuating on complex mechanical loads, with a global stability proof. The proposed control law is simpler compared to previous schemes presented in the literature.
INTERNATIONAL JOURNAL OF CONTROL
(2021)
Article
Automation & Control Systems
Abdallah Alansaari, Igor Boiko, Sean Swei
Summary: A novel variable structure controller for satellite attitude control is investigated, which avoids the chattering problem by not leading to a sliding mode, making it practical for implementation. The controller formulation and stability analysis for a second order system are presented. The system with this nonlinear controller is homogeneous, resulting in similar responses at large and small deviations from equilibrium. A procedure for tuning homogeneous controllers for all initial conditions is proposed. Through numerical optimization using a detailed model of satellite attitude dynamics, actuator dynamics, and system delays, the proposed controller is found to have better transients and lower energy consumption compared to a conventional PID controller.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Chemistry, Multidisciplinary
Jingdong Chen, Paul I. Ro
Summary: This paper introduces a power envelope regulation strategy to limit the variability of admittance parameters, ensuring system passivity and mitigating the risk of instability. Sliding mode control is employed to achieve stable and robust performance, with a new sliding surface proposed based on feedback linearization for improved tracking performance and stability. The effectiveness of these methods is theoretically validated and substantiated through numerical simulations and empirical experiments.
APPLIED SCIENCES-BASEL
(2023)
Proceedings Paper
Automation & Control Systems
Juan Sifuentes-Mijares, Victor Santibanez, Jose Luis Meza Medina
2014 WORLD AUTOMATION CONGRESS (WAC): EMERGING TECHNOLOGIES FOR A NEW PARADIGM IN SYSTEM OF SYSTEMS ENGINEERING
(2014)
