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A Practical Approach to Adaptive Sliding Mode Control
José Antonio González,Antonio Barreiro,Sebastián Dormido 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.10
This paper is concerned with the development of a practical approach to the design of adaptive sliding mode controllers. The objective is to define an adaptive control law that presents some desired advantages such as non overestimation of the disturbance input, cancellation of the chattering phenomenon, zero overshooting response, avoid control saturation and simplicity of algorithm tuning. In this practical approach a solution is provided thatuses both, adaptive sliding surfaces and adaptive control gains so the proposed controller is able to manage input disturbances with bounded derivatives.
Real-time state observers based on multibody models and the extended Kalman filter
Javier Cuadrado,Daniel Dopico,Antonio Barreiro,Emma Delgado 대한기계학회 2009 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.23 No.4
This work is a preliminary study on the use of the extended Kalman filter (EKF) for the state estimation of multibody systems. The observers based on the EKF are described by first-order differential equations, with independent, non-constrained coordinates. Therefore, it should be investigated how to formulate the equations of motion of the multibody systems so that efficient, robust and accurate observers can be derived, which can serve to develop advanced real-time applications. In the paper, two options are considered: a state-space reduction method and the penalty method. Both methods are tested on a four-bar mechanism with a linear spring-damper. The results enable us to analyze the pros and cons of each method and provide clues for future research.
Passive Internet-based Crane Teleoperation with Haptic Aids
Alejandro F. Villaverde,Cesáreo Raimúndez,Antonio Barreiro 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.1
Crane operation is a challenging task, due to the combined problem of obstacle avoidance and load swing suppression in underactuated conditions. This paper presents a human-machine interface that increases the operator’s perception of a gantry crane’s workspace. With this aim, a virtual environment resembling the workspace is connected with a haptic device. This allows the user to receive not only visual but also tactile feedback, thus increasing maneuvering safety. Additionally, this capability is integrated in a teleoperation setup, adopting a passivity-based control approach that guarantees overall stability. This includes also the design of controllers by means of the IDA-PBC method. Ex-perimental results carried out with a laboratory crane show its feasibility for internet-based teleopera-tion and demonstrate the improvements on the system performance.