Robust Control of a Bimorph Piezoelectric Robotic Manipulator Considering Ellipsoidal-Type State Restrictions
نویسندگان
چکیده
The current study presents an adaptive control approach to solve the tracking trajectory problem for a robotic manipulator that uses gripper based on bimorph piezoelectric actuators. development of gain state feedback form considers restrictions is proposed using novel class barrier Lyapunov function drives effective joints and method allows inclusion complex combinations in function, yielding construction differential forms gains controller can handle evolution trajectories arm inside restricted region. design successfully tracks reference both as well motion device during several operative scenarios. A comprehensive experimental evaluates effect introducing state-dependent considering ellipsoidal type. comparison mean square error confirms contributions developed action, showing better quality less power with same evaluation, which desirable characteristic controlled micromanipulators. solves micromanipulation system, satisfies restrictions, performance be enforced. Furthermore, obtained seems validate controller’s contribution concerning fixed gains.
منابع مشابه
Hoo ROBUST CONTROL OF FLEXIBLE MANIPULATOR VIBRATION BY USING A PIEZOELECTRIC-TYPE SERVO-DAMPER
An Hoo controller design scheme based on the matrix fraction stability condition is proposed for the vibration control of a flexible manipulator, which has the matrix fraction uncertainty. The proposed controller is then applied to the cantilever beam with a piezoelectric-type servo-damper so that the vibration at the free end of the beam is effectively suppressed, while its effective length sl...
متن کاملOn a Moving Base Robotic Manipulator Dynamics
There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounte...
متن کاملRobust Control of a High-Speed Manipulator in State Space
A robust control approach is proposed for a high speed manipulator using a hybrid computed torque control approach in the state space. The high-speed manipulator is driven by permanent magnet dc motors to track a trajectory in the joint space in the presence of disturbances. Tracking problem is analyzed in the state space where the completed models are considered for actuators. The proposed con...
متن کاملNonlinear Robust Tracking Control of an Underwater Vehicle-Manipulator System
This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...
متن کاملRobust Adaptive Control of A HexaSlide Type Parallel Manipulator
This paper presents an application of a robust adaptive control strategy to HexaSlide type six degrees-of-freedom parallel manipulators . The HexaSlide type parallel manipulators are characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. The proposed control law is developed based on a simplified second order syste...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Applied sciences
سال: 2022
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app12157589