Multi-rate sensor fusion-based adaptive discrete finite-time synergetic control for flexible-joint mechanical systems

doi:10.1088/1674-1056/22/10/100702

中国物理B ›› 2013, Vol. 22 ›› Issue (10): 100702-100702.doi: 10.1088/1674-1056/22/10/100702

Multi-rate sensor fusion-based adaptive discrete finite-time synergetic control for flexible-joint mechanical systems

薛广月, 任雪梅, 夏元清

School of Automation, Beijing Institute of Technology, Beijing 100081, China

收稿日期:2013-02-05 修回日期:2013-04-08 出版日期:2013-08-30 发布日期:2013-08-30
基金资助:
Project supported by the National Natural Science Foundation of China (Grant Nos. 61273150 and 60974046) and the Research Fund for the Doctoral Program of Higher Education of China (Grant No. 20121101110029).

Multi-rate sensor fusion-based adaptive discrete finite-time synergetic control for flexible-joint mechanical systems

Xue Guang-Yue (薛广月), Ren Xue-Mei (任雪梅), Xia Yuan-Qing (夏元清)

School of Automation, Beijing Institute of Technology, Beijing 100081, China

Received:2013-02-05 Revised:2013-04-08 Online:2013-08-30 Published:2013-08-30
Contact: Xue Guang-Yue, Ren Xue-Mei E-mail:yyyy0225@126.com;xmren@bit.edu.cn
Supported by:
Project supported by the National Natural Science Foundation of China (Grant Nos. 61273150 and 60974046) and the Research Fund for the Doctoral Program of Higher Education of China (Grant No. 20121101110029).

摘要/Abstract

摘要： This paper proposes an adaptive discrete finite-time synergetic control (ADFTSC) scheme based on a multi-rate sensor fusion estimator for flexible-joint mechanical systems in the presence of unmeasured states and dynamic uncertainties. Multi-rate sensors are employed to observe the system states which cannot be directly obtained by encoders due to the existence of joint flexibilities. By using an extended Kalman filter (EKF), the finite-time synergetic controller is designed based on a sensor fusion estimator which estimates states and parameters of the mechanical system with multi-rate measurements. The proposed controller can guarantee the finite-time convergence of tracking errors by the theoretical derivation. Simulation and experimental studies are included to validate the effectiveness of the proposed approach.

关键词: adaptive finite-time synergetic control, multi-rate sensor fusion, mechanical systems

Abstract: This paper proposes an adaptive discrete finite-time synergetic control (ADFTSC) scheme based on a multi-rate sensor fusion estimator for flexible-joint mechanical systems in the presence of unmeasured states and dynamic uncertainties. Multi-rate sensors are employed to observe the system states which cannot be directly obtained by encoders due to the existence of joint flexibilities. By using an extended Kalman filter (EKF), the finite-time synergetic controller is designed based on a sensor fusion estimator which estimates states and parameters of the mechanical system with multi-rate measurements. The proposed controller can guarantee the finite-time convergence of tracking errors by the theoretical derivation. Simulation and experimental studies are included to validate the effectiveness of the proposed approach.

Key words: adaptive finite-time synergetic control, multi-rate sensor fusion, mechanical systems

中图分类号: (Servo and control equipment; robots)

07.07.Tw

07.10.-h (Mechanical instruments and equipment) 02.30.Yy (Control theory)

薛广月, 任雪梅, 夏元清. Multi-rate sensor fusion-based adaptive discrete finite-time synergetic control for flexible-joint mechanical systems[J]. 中国物理B, 2013, 22(10): 100702-100702.

Xue Guang-Yue (薛广月), Ren Xue-Mei (任雪梅), Xia Yuan-Qing (夏元清). Multi-rate sensor fusion-based adaptive discrete finite-time synergetic control for flexible-joint mechanical systems[J]. Chin. Phys. B, 2013, 22(10): 100702-100702.

参考文献 27

[1]	Yu S, Yu X, Shirinzadeh B and Man Z 2005 Automatica 41 1957
[2]	Gao T, Chen Z, Yuan Z and Chen G 2006 Chin. Phys. 15 1190
[3]	Mohammad A and Hassan F 2012 Chin. Phys. B 21 060506
[4]	Mohammad A 2011 Chin. Phys. B 20 090505
[5]	Chen D, Zhang R and Ma X 2012 Chin. Phys. B 21 120507
[6]	Abidi K, Xu J and She J 2009 IEEE T. Ind. Electron. 56 3619
[7]	Feng Y, Xu X and Man Z 2002 Automatica 38 2159
[8]	Wang L, Chai T and Zhai L 2009 IEEE T. Ind. Electron. 56 3296
[9]	Yoshimura T 2010 J. Vib. Control 16 1417
[10]	Abdollahi F, Talebi H A and Rajnikant V P 2006 IEEE T. Neural Network 17 118
[11]	Na J, Ren X and Zheng D 2010 IEEE T. Control System Tech. 56 91
[13]	Xu Z and Rahman M F 2012 IEEE T. Ind. Electron. 59 4179
[14]	Corradinia M L, Fossib V, Giantomassib A, Ippolitib G, Longhib S and Orlandob G 2012 Control Eng. Pract. 20 816
[15]	Islam S and Liu P X 2010 Robotica 28 975
[16]	Zhang H B, Lü H S and Gu S L 2010 Acta Phys. Sin. 59 5213 (in Chinese)
[17]	Wang J, Xia L and Hou Q 2006 Chin. Phys. 15 467
[18]	Zhang H 2002 Chin. Phys. 11 1
[19]	Wang J, Hui G and Xie X 2013 Chin. Phys. B 22 030206
[20]	Yoshimura T 2012 Int. J. Syst. Sci. 43 211
[21]	Chen D, Liu Y and Ma X 2011 Chin. Phys. B 20 120506
[22]	Santi E, Monti A, Li D, Proddutur K and Dougal R A 2004 J. Circ. Syst. Comput. 13 737
[23]	Jiang Z and Dougal R A 2004 IEEE T. Power Electron. 19 1140
[24]	Crossley N 2008 J. Guid. Control Dyn. 31 1561
[25]	Liu C and Hsiao M 2012 Comput. Math. Appl. 64 1163
[26]	Veselic B, Perunicic-Drazenovic B and Milosavljevic C 2010 IEEE T. Ind. Electron. 57 3840
[27]	Kluge S, Reif K and Brokate M 2010 IEEE T. Automat. Control 55 514

[1]	Li-Guo Qin(秦立国), Zhong-Yang Wang(王中阳), Jie-Hui Huang(黄接辉), Li-Jun Tian(田立君), and Shang-Qing Gong(龚尚庆). Reversible waveform conversion between microwave and optical fields in a hybrid opto-electromechanical system[J]. 中国物理B, 2021, 30(6): 68502-068502.
[2]	宋晨之, 杨是赜, 李晓敏, 李晓, 冯济, 潘安练, 王文龙, 许智, 白雪冬. Optically manipulated nanomechanics of semiconductor nanowires[J]. 中国物理B, 2019, 28(5): 54204-054204.
[3]	闫文君, 曾小敏, 刘欢, 郭春伟, 凌敏, 周后盘. Highly reliable and selective ethanol sensor based on α-Fe₂O₃ nanorhombs working in realistic environments[J]. 中国物理B, 2019, 28(10): 106801-106801.
[4]	刘玉龙, 王冲, 张靖, 刘玉玺. Cavity optomechanics: Manipulating photons and phonons towards the single-photon strong coupling[J]. 中国物理B, 2018, 27(2): 24204-024204.
[5]	程泂, 梁先庭, 张闻钊, 段香梅. Optomechanical state transfer between two distant membranes in the presence of non-Markovian environments[J]. 中国物理B, 2018, 27(12): 120302-120302.
[6]	赵路丝, 陈春平, 刘林林, 于洪侠, 陈怡, 王晓春. Magnetism and piezoelectricity of hexagonal boron nitride with triangular vacancy[J]. 中国物理B, 2018, 27(1): 16301-016301.
[7]	秦立国, 王中阳, 马鸿洋, 王淑梅, 龚尚庆. Electrically controlled optical switch in the hybrid opto-electromechanical system[J]. 中国物理B, 2017, 26(12): 128502-128502.
[8]	陈洁, 秦明, 黄庆安. Detecting magnetic field direction by a micro beam operating in different vibration modes[J]. 中国物理B, 2011, 20(9): 97101-097101.
[9]	李普. An efficient numerical approach to electrostatic microelectromechanical system simulation[J]. 中国物理B, 2009, 18(11): 4769-4776.
[10]	方玉明, 黄庆安, 李伟华. A dynamic macromodel for distributed parameter magnetic microactuators[J]. 中国物理B, 2008, 17(5): 1709-1715.
[11]	夏丽莉, 王静, 后其宝, 李元成. Lie-form invariance of nonholonomic mechanical systems[J]. 中国物理B, 2006, 15(3): 467-469.
[12]	张宏彬, 陈立群, 刘荣万. First integrals of the discrete nonconservative and nonholonomic systems[J]. 中国物理B, 2005, 14(2): 238-243.
[13]	张宏彬. Lie symmetries and conserved quantities of non-holonomic mechanical systems with unilateral Vacco constraints[J]. 中国物理B, 2002, 11(1): 1-4.

Multi-rate sensor fusion-based adaptive discrete finite-time synergetic control for flexible-joint mechanical systems

Multi-rate sensor fusion-based adaptive discrete finite-time synergetic control for flexible-joint mechanical systems

PDF (PC)

赞

可视化

摘要/Abstract

引用本文

使用本文

参考文献 27

相关文章 13

Metrics

本文评价

推荐阅读 0