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Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 1, doi: 10.1007/s11465-023-0773-z

Abstract: driven dual-arm manipulator, due to the unknown heavy load, difficulty in measuring contact forces, and controlTo overcome this problem, a compliance motion control method is proposed in this paper for the HDM.The mass parameter of the unknown object is obtained by using an adaptive method based on velocity erroraddition, the position controllers of the two individual HMs are designed to enable precise motion controlby using the virtual decomposition control method.

Keywords： hydraulic dual-arm manipulator compliance motion control unknown object adaptive mass estimation nonlinear control

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An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 1, Pages 95-101 doi: 10.1007/s11465-015-0332-3

Abstract:

A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problemenables better high-precision tracking performance with chattering-free than traditional sliding mode control

Keywords： weld seam tracking welding robotic manipulator adaptive control sliding mode control

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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0753-3

Abstract: collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methods resolve the tracking controlTo address this challenge, this paper proposes an obstacle-circumventing adaptive control (OCAC) frameworkSpecifically, a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different stages.

Keywords： four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminalsliding mode control sub-target dynamic tracking regression obstacle avoidance

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A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

Frontiers of Structural and Civil Engineering 2010, Volume 4, Issue 3, Pages 277-286 doi: 10.1007/s11709-010-0072-8

Abstract: The advances in compensation methods based on adaptive control theory enable researchers to accommodatevariable actuator delay and achieve good actuator control for real-time tests.However, these adaptive methods all require time duration for actuator delay adaptation.Experiments show that a good actuator delay estimate can help optimize the performance of the adaptiveThis paper presents a model reference adaptive control based method to identify the parameter of a simplified

Keywords： real-time testing actuator delay compensation adaptive control MIT rule discrete transfer function

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Bionic soft robotic gripper with feedback control for adaptive grasping and capturing applications

Frontiers of Mechanical Engineering 2024, Volume 19, Issue 1, doi: 10.1007/s11465-023-0779-6

Abstract: Robots are playing an increasingly important role in engineering applications. Soft robots have promising applications in several fields due to their inherent advantages of compliance, low density, and soft interactions. A soft gripper based on bio-inspiration is proposed in this study. We analyze the cushioning and energy absorption mechanism of human fingertips in detail and provide insights for designing a soft gripper with a variable stiffness structure. We investigate the grasping modes through a large deformation modeling approach, which is verified through experiments. The characteristics of the three grasping modes are quantified through testing and can provide guidance for robotics manipulation. First, the adaptability of the soft gripper is verified by grasping multi-scale and extremely soft objects. Second, a cushioning model of the soft gripper is proposed, and the effectiveness of cushioning is verified by grasping extremely sharp objects and living organisms. Notably, we validate the advantages of the variable stiffness of the soft gripper, and the results show that the soft robot can robustly complete assemblies with a gap of only 0.1 mm. Owing to the unstructured nature of the engineering environment, the soft gripper can be applied in complex environments based on the abovementioned experimental analysis. Finally, we design the soft robotics system with feedback capture based on the inspiration of human catching behavior. The feasibility of engineering applications is initially verified through fast capture experiments on moving objects. The design concept of this robot can provide new insights for bionic machinery.

Keywords： soft bionic gripper variable stiffness structure large deformation modeling feedback control soft

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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2, Pages 271-284 doi: 10.1007/s11465-020-0623-1

Abstract: The knowledge of various ground properties and adaptive locomotion based on different surface materialsA terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposedThen, an adaptive locomotion on different ground properties is proposed.The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters ofactive compliance control change with the terrain.

Keywords： terrain classification hexapod robot legged robot adaptive locomotion gait control

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High Precision Adaptive Predictive Control for Cruise Missile

Sun Mingwei,Chen Zengqiang,Yuan Zhuzhi,Ren Qiang,Yang Ming

Strategic Study of CAE 2005, Volume 7, Issue 10, Pages 23-27

Abstract: are constructed for attitude control loop, and their discrete models are served as controlled plantfor recursive least square (RLS) based adaptive predictive control, thus the mass center control withslow response transforms into trajectory angle control with fast response and high precision.attitude loop, and an integral form of predictive control is adopted in outter trajectory loop.with mass center control.

Keywords： cruise missile adaptive control model based predictive control robustness

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The Adaptive Robust Controller of the Centrifuge

Li Guo,Zhang Peichang,Hu Jianfei,Yu Dafei

Strategic Study of CAE 2006, Volume 8, Issue 9, Pages 30-34

Abstract:

This paper investigates the use of the adaptive robust controller for improving control performancesystem is expected to achieve satisfactory control performance.An adaptive robust control algorithm of the centrifuge is presented in the paper, and the adaptive robustIt is clarified that the control performance and stability of the centrifuge is improved and the controlsystem still maintains satisfactory control performance despite the change of environment conditions

Keywords： centrifuge adaptive control robust control

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Power maximization of variable-speed variable-pitch wind turbines using passive adaptive neural faulttolerant control

Hamed HABIBI, Hamed RAHIMI NOHOOJI, Ian HOWARD

Frontiers of Mechanical Engineering 2017, Volume 12, Issue 3, Pages 377-388 doi: 10.1007/s11465-017-0431-4

Abstract: This paper studies the control methodology for variable-speed variable-pitch wind turbines includingThe adaptive neural fault tolerant control is designed passively to be robust on model uncertainties,

Keywords： wind turbine nonlinear model maximum power tracking passive fault tolerant control adaptive neural control

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Pricing Based Adaptive Call Admission Control Algorithm for Wireless Networks

Zhang Xue

Strategic Study of CAE 2006, Volume 8, Issue 4, Pages 32-38

Abstract:

In order to efficiently and effectively control the use of wireless network resources, in this paper, according to the characteristic of adaptive multimedia applications in which bandwidths can be adjusteddynamically, and the influence of pricing on the users' behavior, an adaptive admission control

Keywords： wireless networks adaptive call admission control microeconomic theory pricing connection level QoS

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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 2, Pages 198-210 doi: 10.1007/s11465-015-0335-0

Abstract: productivity and accuracy in today’s robotic applications have highlighted an urge to replace classical controlstrategies with their modern control counterparts.Highlighting the authors’ research achievements in the domain of manipulator design and control, this paper presents a systematic and comprehensive review of the state-of-the-art control techniquesthree kinds of strategies, i.e., intelligent proportional-integral-derivative (PID) scheme, robust control

Keywords： robot control robust and nonlinear control adaptive control intelligent control industrial manipulators

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Statistical process control with intelligence using fuzzy ART neural networks

Min WANG, Tao ZAN, Renyuan FEI,

Frontiers of Mechanical Engineering 2010, Volume 5, Issue 2, Pages 149-156 doi: 10.1007/s11465-010-0008-y

Abstract: technology has been gradually employed to increase the automation and intelligence degree in quality controlusing statistical process control (SPC) method.In this paper, an SPC method based on a fuzzy adaptive resonance theory (ART) neural network is presentedthe fuzzy ART neural network can also be utilized to adaptively detect the abnormal patterns in the control

Keywords： statistical process control (SPC) fuzzy adaptive resonance theory (ART) histogram control chart time

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Adaptive robust neural control of a two-manipulator system holding a rigid object with inaccurate base Research

Fan XU, Jin WANG, Guo-dong LU

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 11, Pages 1316-1327 doi: 10.1631/FITEE.1601707

Abstract:

The problem of self-tuning control with a two-manipulator system holding a rigid object in the presenceAn adaptive robust neural controller is proposed to cope with inaccurate translational base frame parametersUsing an adaptive engine, this approach permits accurate online calibration of the relative translational

Keywords： Cooperative manipulators Neural networks Inaccurate translational base frame Adaptive control Robustcontrol

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Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 2, Pages 179-210 doi: 10.1007/s11465-018-0464-3

Abstract: >Hydraulic servo system plays a significant role in industries, and usually acts as a core point in controlAlthough linear theory-based control methods have been well established, advanced controller design methodsEssential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, dueIn this paper, a discussion for challenges in model-based nonlinear control, latest developments andto handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control

Keywords： hydraulic servo system adaptive control robust control nonlinear friction disturbance compensation repetitivecontrol noise alleviation constraint control

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Convergence performance comparisons of PID, MRAC, and PID+MRAC hybrid controller

Dan ZHANG,Bin WEI

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2, Pages 213-217 doi: 10.1007/s11465-016-0386-x

Abstract:

This study proposes a hybrid controller by combining a proportional-integral-derivative (PID) controland a model reference adaptive control (MRAC), which named as PID+MRAC controller.The convergence performances of the PID control, MRAC, and hybrid PID+MRAC are also compared.In addition, the convergence performance of the hybrid control is better than that of the MRAC control

Keywords： proportional-integral-derivative (PID) control model reference adaptive control hybrid control convergence