Adaptive Tracking Control of Hybrid Machines: A Closed-Chain Five-Bar Mechanism Case
文献类型：期刊论文
| 作者 | Cheng, Long1 ; Lin, Yingzi2; Hou, Zeng-Guang1; Tan, Min1; Huang, Jian3; Zhang, W. J.3
|
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2011-12-01 |
| 卷号 | 16期号:6页码:1155-1163 |
| 关键词 | Adaptive control constant velocity motor hybrid machine trajectory tracking uncertainty velocity fluctuation |
| 英文摘要 | This paper considers the trajectory tracking problem of hybrid machines. A hybrid machine here refers to a machine that is driven by the constant velocity (CV) motors and servomotors in a proper configuration. The hybrid machine is a meaningful tradeoff between task flexibility and power capacity. However, this system has brought a new challenge to control due to the velocity fluctuation in the CV motor. The velocity fluctuation problem is caused mainly by the uncontrollable input current and the time-varying workload. In addition, the dynamic parameters are uncertain, which further increases the control difficulty. In this paper, we propose an adaptive control law for the trajectory tracking and demonstrate the effectiveness of this control law on a 2-DOF closed-chain five-bar hybrid mechanism driven by one servomotor and one CV motor. The principle of the proposed controller is to properly design the servomotor control input that can compensate not only the uncertainty in the servomotor but also the uncertainty in the CV motor. By the proposed adaptive control law, it can be theoretically proved that the position/velocity tracking errors of the joint associated with the servomotor and the velocity tracking error of the joint associated with the CV motor are convergent to zero as time goes to infinity. Finally, the simulation examples are given to illustrate the effectiveness of the proposed method. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | MOTION CONTROL ; ACTUATOR ; DESIGN ; PRESS ; MODEL |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000294854700018 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3428]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China 2.Northeastern Univ, Dept Mech & Ind Engn, Coll Engn, Boston, MA 02115 USA 3.Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK S7N 5A9, Canada |
| 推荐引用方式 GB/T 7714 | Cheng, Long,Lin, Yingzi,Hou, Zeng-Guang,et al. Adaptive Tracking Control of Hybrid Machines: A Closed-Chain Five-Bar Mechanism Case[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2011,16(6):1155-1163. |
| APA | Cheng, Long,Lin, Yingzi,Hou, Zeng-Guang,Tan, Min,Huang, Jian,&Zhang, W. J..(2011).Adaptive Tracking Control of Hybrid Machines: A Closed-Chain Five-Bar Mechanism Case.IEEE-ASME TRANSACTIONS ON MECHATRONICS,16(6),1155-1163. |
| MLA | Cheng, Long,et al."Adaptive Tracking Control of Hybrid Machines: A Closed-Chain Five-Bar Mechanism Case".IEEE-ASME TRANSACTIONS ON MECHATRONICS 16.6(2011):1155-1163. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。