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1
Content available Motion tracking of a rigid-flexible link robotic system in an underactuated control mode
Jarzębowska Elżbieta, Augustynek Krzysztof, Urbaś Andrzej
Bulletin of the Polish Academy of Sciences. Technical Sciences
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2023
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Vol. 71, nr 3
art. no. e144620
EN
The paper presents its contribution to tracking control design of mechanical systems in underactuated mode conditions, i.e. when the number of actuators is less than the number of possible control inputs. Fully actuated mechanical systems are quite well-researched and controller designs are well-developed for them as well. However, due to costs, weight, design, and performance regimes or due to an actuator failure, the underactuated control mode is required in applications. With the aid of the computational procedure for constrained dynamics (CoPCoD), the constrained dynamics, i.e. the reference motion dynamics, and tracking control in an underactuated mode are designed for an example of a three-link planar manipulator model with rigid and flexible links. A dynamic optimization problem is formulated in the paper to obtain optimal time courses of manipulator joint coordinates in underactuated mode conditions in order to apply them to a manipulator driving links controller.
2
Content available Iterative learning fault-tolerant control for the networked control systems with initial state disturbance
Xingjian Fu, Qianjun Zhao
Bulletin of the Polish Academy of Sciences. Technical Sciences
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2022
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Vol. 70, nr 3
art. no. e140934
EN
The iterative learning fault-tolerant control strategies with non-strict repetitive initial state disturbances are studied for the linear discrete networked control systems (NCSs) and the nonlinear discrete NCSs. In order to reduce the influence of the initial state disturbance in iteration, for the linear NCSs, considering the external disturbance and actuator failure, the iterative learning fault-tolerant control strategy with impulse function is proposed. For the nonlinear NCSs, the external disturbance, packet loss and actuator failure are considered, the iterative learning fault-tolerant control strategy with random Bernoulli sequence is provided. Finally, the proposed control strategies are used for simulation research for the linear NCSs and the nonlinear NCSs. The results show that both strategies can reduce the influence of the initial state disturbance on the tracking effect, which verifies the effectiveness of the given method.
3
Content available Directional change and windup phenomena in LQR-controlled systems with actuator failure
Horla D.
Archives of Electrical Engineering
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2018
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Vol. 67, nr 2
345–-359
EN
The paper presents a phenomenon of directional change in the case of a LQR controller applied to multivariable plants with amplitude and rate constraints imposed on the control vector, as well as the impact of the latter on control performance, with the indirect observation of the windup phenomenon effect via frequency of consecutive resaturations. The interplay of directional change of the computed control vector with control performance has been thoroughly investigated, and it is a result of the presence of constraints imposed on the applied control vector for different ratios of the number of control inputs to plant outputs. The impact of the directional change phenomenon on the control performance (and also on the windup phenomenon) has been defined, stating that performance deterioration is not tightly coupled with preservation of direction of the computed control vector. This conjecture has been supported by numerous simulation results for different types of plants with different LQR controller parameters.
4
Content available Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control
Ma Y., Cocquempot V., El Badaoui El Najjar M., Jiang B.
International Journal of Applied Mathematics and Computer Science
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2017
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Vol. 27, no. 4
763--776
EN
This paper develops a new actuator failure compensation scheme for two linked two-wheel drive (2WD) mobile robots based on multiple-model control. First, a configuration of two linked 2WD robots is described, and their kinematics and dynamics are modeled. Then, a multiple-model based failure compensation scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which ensures system stability and asymptotic tracking properties. Finally, simulation results verify the effectiveness of the proposed failure compensation control system.
5
Content available Directional change in multivariable LQG control with actuator failure
Horla D.
Bulletin of the Polish Academy of Sciences. Technical Sciences
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2017
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Vol. 65, nr 4
419--428
EN
The paper presents the phenomenon of directional change in LQG control of multivariable systems with amplitude constraints, as well as the impact of the latter on control performance. The interplay of directional change of the computed control vector with control performance has been thoroughly investigated, and is a result of the presence of constraints imposed on the applied control vector for different proportions of the number of control inputs to plant outputs. The impact of directional change phenomenon on the control performance has been defined, stating that performance deterioration is not tightly coupled with preservation of direction of the computed control vector. The statement has been supported by numerous simulation results for different types of plants with different LQG controller parameters.
6
Content available Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel
Owczarkowski A., Horla D.
International Journal of Applied Mathematics and Computer Science
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2016
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Vol. 26, no. 2
325--334
EN
Essential ingredients for robust control are the ability to cope with different types of system behavior following modeling imperfections and the ability to assure a certain performance level. In this paper, we propose to use an actuator fault-tolerant control law to govern, during experiments, the stabilization of a bicycle robot with an inertial wheel in order to take into account unmodeled uncertainty introduced by using a linearized model in an LQR fashion. Our proposal is illustrated by signal plots and the values of performance indices obtained from a set of experiments.
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