Article
Automation & Control Systems
Runji Ke, Taiyong Wang, Jingchuan Dong, Libo Cao
Summary: This paper addresses the problem of contour performance reduction caused by inaccurate contour error estimations. A novel tangential velocity tracking-based contouring control framework is proposed, which decouples the contour-following task in the tangential and normal directions of the reference contour and aims to track the desired tangential velocity commands at the foot point. By calculating the normal position tracking error, nearly perfect contour error estimation accuracy can be achieved.
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
(2023)
Article
Construction & Building Technology
Hoang Vu Dao, Seonjun Na, Duc Giap Nguyen, Kyoung Kwan Ahn
Summary: This paper proposes a task coordinate frame approach to separate tracking errors in excavators and designs an extended state observer to handle disturbances and uncertainties. The control algorithm ensures system stability and high accuracy contouring performance.
AUTOMATION IN CONSTRUCTION
(2021)
Article
Automation & Control Systems
Ze Wang, Ran Zhou, Chuxiong Hu, Yu Zhu
Summary: A novel contouring control method using polar coordinate system with polar-radius error (PE) for performance evaluation is proposed in this article. A real-time iterative compensation method is designed to improve trajectory tracking performance for radial motion axis and to indirectly suppress contouring error. The proposed framework simplifies the implementation process and is effective in comparative experiments on machine tool systems.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Automation & Control Systems
Ze Wang, Ran Zhou, Chuxiong Hu, Yu Zhu
Summary: For precision planar contouring control systems widely applied in industrial scenarios, additional contouring control action is usually added to two axes respectively to enhance contouring motion performance. In this article, planar motion is described in the polar coordinate system instead of the Cartesian one, and a new definition of polar-radius error (PE) is proposed to evaluate contouring performance. A real-time iterative compensation method is designed based on PE to improve trajectory tracking performance and suppress contouring error in the radial motion axis.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Multidisciplinary Sciences
Guirong Wang, Jiahao Chen, Kun Zhou, Zhihui Pang
Summary: This paper presents a novel algorithm for industrial robot contouring control based on NURBS curve, utilizing contour error as evaluation index and tangent approximation algorithm. It concludes that trajectories constructed by NURBS curve exhibit better contour control performance.
Article
Automation & Control Systems
Wenxin Wang, Jun Ma, Xiaocong Li, Haiyue Zhu, Clarence W. de Silva, Tong Heng Lee
Summary: This article presents a hybrid active-passive robust control framework based on a model-free architecture to enhance the contouring performance of a flexure-joint dual-drive gantry system. By employing a super-twisting sliding mode control method and an extended state observer, the coupling effects, nonlinearity, disturbance, and unknown dynamics are effectively addressed, resulting in excellent performance in high-speed and complex-curvature contouring tasks.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Engineering, Aerospace
Lingling Shi, He Yao, Minghe Shan, Qingbin Gao, Xin Jin
Summary: This paper proposes an optimized adaptive variable structure control method for coordinating the motion of the spacerobot base and its arm, aiming to reduce settling time and improve control accuracy. By optimizing gain parameters using a modified Gaussian barebones differential evolution method, the controller demonstrates reduced settling time and higher control accuracy compared to the boundary layer sliding mode control method.
AEROSPACE SCIENCE AND TECHNOLOGY
(2022)
Article
Automation & Control Systems
Yanbin Liu, Weichao Sun, Concettina Buccella, Carlo Cecati
Summary: In this article, a robust control scheme with adaptive neural network identification is designed for contouring control of the dual-linear-motor-driven gantry system. The method improves upon existing approaches by considering rotational dynamics and uncertainties and avoids the imperfections of previous methods based on tracking control under the global task coordinate frame. Experimental results verify the effectiveness and superiority of the proposed velocity-based contouring control method.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Xingyi Liu, Zheng Chen, Yingqiang Liu, Fuxin Duan, Can Yang, Bin Yao
Summary: The article introduces a direct optimization based compensation adaptive robust control method, which combines outer loop and inner loop feedback structures to achieve motion control of mechatronic systems while considering constraints. Comparative experiments have demonstrated the superiority and effectiveness of this approach.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2021)
Article
Automation & Control Systems
Kwanghyun Cho, Kanghyun Nam
Summary: This study addresses the long-term instability problem in periodic-feedback-loop-based control schemes. By proposing a robust PADOB and an optimized IIR filter, the long-term stability of the closed-loop system is guaranteed.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Computer Science, Artificial Intelligence
Yingjie Tian, Duo Su, Shilin Li
Summary: This paper proposes a unified loss function called Adaptive Robust loss (ARobust loss) for two landmark detection paradigms. The paper analytically demonstrates the robustness, smoothness, and continuity of the proposed loss function. Experimental results validate the accuracy and preeminence of the adaptive robust loss on multiple landmark detection datasets, especially in challenging scenarios.
INFORMATION FUSION
(2023)
Article
Computer Science, Artificial Intelligence
Yingjie Tian, Duo Su, Shilin Li
Summary: This paper proposes a unified Adaptive Robust loss function for two paradigms of landmark detection, namely coordinate regression and heatmap regression. The proposed loss function demonstrates robustness, smoothness, and continuity, and has achieved excellent performance in various landmark detection datasets.
INFORMATION FUSION
(2024)
Article
Automation & Control Systems
Fengqiu Xu, Han He, Mingxing Song, Xianze Xu
Summary: This paper proposes an iterative neural network adaptive robust control strategy for achieving good tracking performance and uncertainty compensation in a maglev planar motor system. The strategy combines adaptive robust control and iterative neural network compensator in a parallel structure, enabling parameter adaptation and improved approximation accuracy for stable closed-loop control.
Article
Automation & Control Systems
Shyh-Leh Chen, Sheng-Min Hsieh
Summary: This paper proposes a novel iterative learning contouring control (ILCC) algorithm for the contouring control of multi-axis motion systems. The ILCC algorithm can handle the non-square property and directly reduce the contour error by adopting the equivalent contour error as the control objective. Experimental results demonstrate the effectiveness of the proposed method and show excellent contouring performance.
Article
Automation & Control Systems
Hao Yuan, Ximei Zhao
Summary: This article presents a contouring compensation approach for the biaxial motion system, using Newton algorithm for dynamic contouring error estimation and employing iterative learning control and adaptive jerk control to improve contouring performance.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)