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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.

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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.

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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.