Adaptive Fuzzy-Wavelet Neural Network identification core for reinforced control of general arbitrarily switched nonlinear Multi Input-Multi Output Dynamic Systems

Fractional order actuation systems: Theoretical foundation and application in feedback control of mechanical systems

This paper proposes a novel method for simultaneous estimation of unknown switched external disturbance and precise position control of dynamical systems which employ worm gear drive reducers. This algorithm is based on an improved discrete sliding mode control (DSMC) design which ensures convergence to the desired sliding set without introducing chattering effects to the dynamical system. In order to improve the performance of DSMC and to obtain an accurate estimation of gearbox model, a new method for incorporation of switched friction is proposed in the presence of external disturbance. To this end, the dynamical response of worm gear drive reducer is investigated in distinct switched disturbance modes of resistive disturbances, assistive disturbances and no disturbance to obtain approximate functions describing system dynamics in aforementioned configurations. In comparison with the feedback data, the obtained models permit appropriate incorporation of friction into the improved DSMC scheme. Based on multiple common Lyapunov functions and calculation of virtual reference signals for armature currents, the feasibility of control algorithm is ensured in all modes of switched dynamics. The effectiveness of the proposed estimation and control schemes has been verified using an experimental setup employing a worm gear drive reducer on which multiple permanent magnet DC motors are installed, and improvements resulted from incorporation of friction estimation algorithm are analyzed.

Friction-Tracker-Embedded Discrete Finite-Time Sliding Mode Control Algorithm for Precise Motion Control of Worm-Gear Reducers Under Unknown Switched Assistive/Resistive Loading

High-performance modeling and discrete-time sliding mode control of uncertain non-commensurate linear time invariant MIMO fractional order dynamic systems

In this paper, the problem of stabilization and tracking control of uncertain flexible multivariable continuum mechanism systems with additional appendage considering boundedness of undesired vibra...

Nonlinear model predictive acceleration synchronization technique for rigid-model-based tracking control of multi-DOF flexible systems:

Control of MIMO mechanical systems interacting with actuators through viscoelastic linkages

In this paper, a novel multiobjective algorithm for simultaneous path-following control (PFC) of multivariable flexible dynamical systems and maintaining boundedness of transverse vibrational effects is proposed. This method is specifically designed for control of complicated dynamical systems where obtaining precise mathematical models describing vibrational and translational dynamics is difficult or unattainable. To facilitate the control task, the proposed scheme is constructed such that it would be capable of stabilizing the closed-loop system solely using a rigid approximation of system dynamics while considering vibrational effects as unstructured uncertainties. This permits the designer to forgo the troublesome task of precisely modeling and numerically analyzing the flexible vibrational system, prioritizing important path-following and closed-loop stability characteristics. The proposed control algorithm incorporates a discrete sliding mode control (DSMC) scheme constructed on the basis of calculation of input bounds. This method does not introduce additional chattering effects as generation of control inputs is not directly dependent on switching functions. Unstructured uncertainties are estimated using one-step approximation technique which removes the need for employing difficult techniques used in the existing literature. The control algorithm is constructed in two distinct modes, the first of which considers appropriate path following as its objective. The second control mode halts the tracking task unless an assigned cost function resides in an acceptable interval, resulting in gradual reduction of intensity of vibrational effects. The control algorithm is numerically simulated in ANSYS® Mechanical APDL environment. The obtained results express the accuracy and efficiency of the control algorithm despite the use of considerably simpler procedure in comparison with existing works.

Simultaneous path-following and vibration control for uncertain nonlinear flexible mechanical systems without dependency on oscillatory mathematical model

H. M. Gholyan

Papers

Control of MIMO mechanical systems interacting with actuators through viscoelastic linkages

Simultaneous path-following and vibration control for uncertain nonlinear flexible mechanical systems without dependency on oscillatory mathematical model