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The Output Regulation Problem for Unmodeled Reference/Disturbance Signals Using High-gain Observers
Jesús Alberto Meda-Campaña,Ricardo Ismael Ancona-Bravo,Jonathan Omega Escobedo-Alva,Tonatiuh Hernández-Cortés,Ricardo Tapia-Herrera 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.4
Based on the regulation theory and high-gain observers, in this paper, a controller for tracking and/or rejecting unmodeled but measurable signals is designed. Considering that the measurable reference/disturbance signals are bounded and smooth, it is proven that the missing dynamical models for such signals can be estimated by high-gain observers of dimensions equal to or greater than one. Then, the corresponding high-gain observers are embedded into an auxiliary system, known as the exosystem, allowing in this way, that the regulation theory can be applied and the new equations to be solved are also given. Because the exosystem is directly constructed from the high-gain observers, the proposed controller is robust in the sense that it is capable of tracking/rejecting any bounded and smooth signal as long as the estimations of the high-gain observers are sufficiently accurate. The existence conditions for such a controller are given, and numerical experiments are used to illustrate the efficacy of the proposed approach.
Kinematics and dynamics modeling of the 6-3-PUS-type Hexapod parallel mechanism
Jaqueline Bernal,Ricardo Campa,Israel Soto 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.10
Modeling and analyzing the dynamics of mechanical systems is important for purposes of simulation, design and control. In the case of parallel manipulators, dynamics modeling becomes a complex task mainly due to the constraints imposed by the closed kinematic chains, and several methods have been proposed for solving that problem. Some authors suggest first using a non-minimal set of coordinates and then computing a minimal dynamics model by means of the so-called projection method. This paper reports the use of such procedure for obtaining the dynamics model of a particular parallel mechanism of the type known as 6-3-PUS. To compute the non-minimal dynamics we employed the Euler-Lagrange formulation. The computed kinematics and dynamics models were validated via numerical simulations. This modeling approach can be employed for similar mechanisms.
On Output Feedback Tracking Control of Robot Manipulators with Bounded Torque Input
Javier Moreno-Valenzuela,Victor Santibanez,Ricardo Campa 대한전기학회 2008 International Journal of Control, Automation, and Vol.6 No.1
Motivated by the fact that in many industrial robots the joint velocity is estimated from position measurements, the trajectory tracking of robot manipulators with output feedback is addressed in this paper. The fact that robot actuators have limited power is also taken into account. Let us notice that few solutions for the torque-bounded output feedback tracking control problem have been proposed. In this paper we contribute to this subject by presenting a theoretical reexamination of a known controller, by using the theory of singularly perturbed systems. Motivated by this analysis, a redesign of that controller is introduced. As another contribution, we present an experimental evaluation in a two degrees-of-freedom revolute-joint direct-drive robot, confirming the practical feasibility of the proposed approach.
A Practical PID Regulator with Bounded Torques for Robot Manipulators
Victor Santibanez,Karla Camarillo,Javier Moreno-Valenzuela,Ricardo Campa 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.3
This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators. Our control-ler considers the natural saturation problem given by the output of the control computer, the saturation phenomena of the internal PI velocity controller in the servo driver, and the actuator torque constraints of the robot manipulator. An approach based on the singular perturbations method is used to analyze the exponential stability of the closed-loop system. Experimental essays show the feasibility of the proposed controller. Furthermore, the theoretical results justify why the classical PID used in industrial robots preserves its exponential stability despite the saturation effects of the electronic control devices and the actuator torque constraints.