New Trends in Robot Control (Studies in Systems, Decision and Control, 270)

✍ Scribed by Jawhar Ghommam (editor), Nabil Derbel (editor), Quanmin Zhu (editor)

• Publisher: Springer
• Year: 2020
• Tongue: English
• Leaves: 382
• Category: Library

✦ Synopsis

This book presents solutions to control problems in a number of robotic systems and provides a wealth of worked-out examples with full analytical and numerical details, graphically illustrated to aid in reader comprehension. It also presents relevant studies on and applications of robotic system control approaches, as well as the latest findings from interdisciplinary theoretical studies. Featuring chapters on advanced control (fuzzy, neural, backstepping, sliding mode, adaptive, predictive, diagnosis, and fault-tolerant control), the book will equip readers to easily tailor the techniques to their own applications. Accordingly, it offers a valuable resource for researchers, engineers, and students in the field of robotic systems.

✦ Table of Contents

Preface
Contents
Part I
Tuning of Fractional Order Controller and Prefilter in MIMO Robust Motion Control: SCARA Robot
1 Introduction
2 MIMO-QFT
3 Fractional Order PD Controller
4 Fractional Prefilter
5 Results and Discussion
6 Conclusion
References
Flexible-Link Manipulators: Dynamic Analysis and Advanced Control Strategies
1 Introduction
2 Dynamic Modelling
3 PD Controller
4 Fuzzy Controller
5 Gain Scheduling PD Fuzzy Controller
6 Fractional Order Fuzzy PD Controller (FOFPD)
6.1 Design of the FOFPD
6.2 Stability Study
7 Simulation Results
7.1 PD and Fuzzy Controllers
7.2 FOFPD Controller
8 Conclusion
References
Autonomous Trenchless Horizontal Directional Drilling
1 Introduction
2 Related Works
3 Directional Drilling System
3.1 Quad-Motors Dynamic System
3.2 Rock Parameters Identification
4 Drilling Optimization
4.1 Optimization Algorithm
4.2 Optimization of Cost Function
5 Simulation and Discussion
6 Conclusion
References
Stabilization of Second Order Underactuated System Using Fast Terminal Synergetic Control
1 Introduction
2 Mathematical Model of Underactuated System
3 Synergetic Control Procedure
4 Fast Terminal Synergetic Control of Underactuated System
5 Simulation Results
5.1 Simulation Using Synergetic Control
5.2 Simulation Using Fast Terminal Synergetic Control
6 Conclusions
References
Sliding Mode Fault Diagnosis with Vision in the Loop for Robot Manipulators
1 Introduction
2 The Robot Model
3 Some Preliminary Issues About Vision
4 The Faults Model
4.1 The Multiple Faults Case: Potentiality of Vision
5 The Fault Diagnosis Scheme
5.1 Vision Servoing and FD Logic (Sensors)
5.2 Inverse Dynamics
5.3 Sliding Mode Observers and FD Logic (Actuators)
6 Analysis of the Fault Diagnosis Strategy
7 The Case Study
7.1 Experimental Setup
7.2 Matlab Simulation Results
7.3 V-REP Simulation Results
7.4 Experimental Results
7.5 Performance Analysis
8 Conclusions
References
L1 Adaptive Control of a Lower Limb Exoskeleton Dedicated to Kids' Rehabilitation
1 Introduction
2 Description and Modeling of Exoskeletons
3 Proposed Control Solution
3.1 Adaptive Control ch6slotine
3.2 Adaptive Control with an Integral Action ch6slotine
3.3 L1 Adaptive Control ch6extl1adaptiv
3.4 Augmented L1 Adaptive Control ch6extl1adaptiv
4 Simulation Results
5 Conclusion and Future Work
References
Exoskeletons Control via Computed Torque for Lower Limb Rehabilitation
1 Introduction
2 Lokomat System and Different Control Modes
2.1 System Description
2.2 Advantages of the System
3 Exoskeleton Control
3.1 System Modeling
3.2 Dynamic Model
3.3 PD Controllers
3.4 PID Controllers
3.5 Adaptive Feedback Linearization Controllers
4 Simulation Results
4.1 PD Controllers
4.2 PID Controllers
4.3 Adaptive Feedback Linearization Based on PID Controller
5 Conclusion
References
Part II
Intelligent Control for an Uncertain Mobile Robot with External Disturbances Estimator
1 Introduction
2 Kinematics and Dynamics of Wheeled Mobile Robot
2.1 Kinematic Model
2.2 Dynamic Model
2.3 Reduced Dynamics
3 Kinematic Controller Design
4 Dynamic Controller Design
4.1 Non Adaptive Controller
4.2 Adaptive Controller with External Torque Disturbance Estimation
4.3 Adaptive Controller with External Torque Disturbance and Uncertainty Estimation
5 Simulation Results
6 Conclusions
References
Adaptive Event-Triggered Regulation Control of Nonholonomic Mobile Robots
1 Introduction
2 Background and Problem Formulation
2.1 Event-Triggered Control
2.2 MR Dynamics
3 Controller with Periodic Update
4 Event Sampled Controller Design
5 Results and Discussions
6 Conclusion
References
Optimal Lane Merging for AGV
1 Introduction
1.1 Related Works
1.2 Main Contribution
1.3 Outlines
2 Optimal Path Planning
2.1 Problem Formulation
2.2 Optimal Path Planning
3 Dynamic AGV Modeling
4 Adaptive Computed Torque Controller
5 Numerical Simulation
6 Conclusion
References
Finite Time Consensus for Higher Order Multi Agent Systems with Mismatched Uncertainties
1 Introduction
2 Mathematical Preliminaries, Graph Theory
3 Problem Formulation
4 Effect of Mismatched Uncertainty
4.1 Design of MAS Finite Time Disturbance Observer
5 Homogeneous Finite Time Sliding Mode Control
5.1 FTDO Based Integral Sliding Mode Control for MAS
6 Results
7 Conclusion
References
Path Planning for a Multi-robot System with Decentralized Control Architecture
1 Introduction
2 The Mobile Robot Modeling
2.1 Kinematic Model
2.2 Dynamic Model
3 Control Architectures
3.1 Centralized Approach
3.2 Decentralized Approach
4 Proposed Decentralized Trajectory Planning Architecture
5 Potential Field Modeling for the Multi-robot System
5.1 Force Attractive
5.2 Repulsive Force
6 Proposed Algorithms for Path Planning: Multi-robot Framework
6.1 Coordination Between Robots
6.2 Neighborhood Detection Method
7 Simulation and Presentation of the Results
7.1 Scenario 1: Case of Cooperation Between Robots Without Presence of Obstacles
7.2 Scenario 2: Case of Cooperation Between Robots with the Presence of Obstacles
7.3 Scenario 3: Simulation with Multiple Obstacles
7.4 Scenario 4: Cooperation Between Six Mobile Robots
8 Conclusion
References
Which is Better for Mobile Robot Trajectory Optimization: PSO or GA?
1 Introduction
2 PSO and GA Characterization:
2.1 PSO
2.2 Genetic Algorithms
3 Comparison of Evolutionary Performances of PSO and GA
3.1 Sphere Function
3.2 Sum Squares Function
3.3 Booth Function
4 Comparison of Mobile Robot Path Planning Optimization Efficiencies of PSO and GA
4.1 Dynamic Variable Speed Force Field: DVSF2
4.2 Simulation Results
5 Conclusion and Future Work
References
Part III
Dynamic Modeling of a Quadrotor UAV Prototype
1 Introduction
2 Related Works
3 Quadrotor Prototype
4 Mathematical Model and Parameters Identification
4.1 Mathematical Model
4.2 Parameters Identification
5 Roll System Frequency Identification
5.1 Control Loop Identification
5.2 Frequency Identification
6 Discussion
7 Conclusion
References
Model-Based Fault Detection of Permanent Magnet Synchronous Motors of Drones Using Current Sensors
1 Introduction
2 Overall Proposed Scheme
2.1 Hardware and Software Setup
3 PMSM Dynamic Modelling
4 Model Identification
4.1 Transfer Function Blocks
4.2 Model Validation
5 Faults Characterization and Detection
5.1 High Friction Fault
5.2 Motor-Off Fault
5.3 Detached Propeller Fault
5.4 Inter-turn Short-Circuit Fault
5.5 Damaged Propeller Fault
6 Experimental Results Analysis
7 Conclusions and Future Work
References
ENMPC Versus PID Control Strategies Applied to a Quadcopter
1 Introduction
2 System Modelling
2.1 Kinematics Model
2.2 Dynamics Model
3 The Technique Based on the PID Controllers
4 Explicit Nonlinear Model Predictive Control
4.1 The Algorithm of ENMPC
4.2 Application of the ENMPC on the Quadcopter Model
5 Simulation Results
6 Conclusions
References
Robust and Adaptive State Estimation of UAV Quadrotors with a High Gain Approach
1 Introduction
2 Quadrotor Modeling
3 Study Cases: Quadrotor Subject to Disturbances and Unknown Parameters
4 Generation and Estimation of the Auxiliary Outputs
4.1 The Observer Matching Condition Problem
4.2 Relaxation of the Observer Matching Condition
4.3 High Gain Approximate Differentiator Design
4.4 Generation and Estimation of Auxiliary Outputs for the Quadrotor Model
5 Robust State Estimation with High Gain Approach for the Quadrotor System in the Study Case 1
5.1 Sliding Mode Observer Synthesis for the Quadrotor Model Subject to Disturbances
5.2 Numerical Simulations for the Case of Quadrotor System Subject to Time Varying Disturbances (Study Case 1)
6 Adaptive State Estimation with High Gain Approach for the Quadrotor System in the Study Case 2
6.1 Adaptive Observer Design for the Quadrotor Model Subject to Unknown Parameters
6.2 Numerical Simulations for the Case of Quadrotor Systems Subject to Constant Unknown Parameters (Study Case 2)
7 Concluding Remarks
References
Part IV
Compound Fractional Integral Terminal Sliding Mode Control and Fractional PD Control of a MEMS Gyroscope
1 Introduction
2 Dynamics of MEMS Gyroscope
3 Fractional Integral Terminal Sliding Mode Control
4 Compound Controller
5 Simulation Results
6 Conclusion
References
Highly Sensitive Polymer/Multiwalled Carbon Nanotubes Based Pressure and Strain Sensors for Robotic Applications
1 Introduction
2 Polymer/Carbon Nanotubes Tactile Sensors
3 Fabrication and Properties of Nanocomposite Sensors
3.1 Mold Cast, Soft Pressure Sensors
3.2 Extruded Filament-Based Strain Sensors
4 Case Study
4.1 Gait Analysis for Humanoid Robots
4.2 Tactile Pressure Sensors for Grasping
4.3 Gesture Recognition
5 Conclusions
References