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An Anti-windup Integral Regulator for a DC-DC Boost Power Converter
Javier Moreno-Valenzuela 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
In this paper, an anti–windup controller is proposed for the output regulation of a direct-current to direct–current (DC-DC)boost power converter. The system is affected by input saturation, modeled as a hard saturation function, which captures the fact that the duty cycle is signal limited between zero and one. In addition, an observer–based extension is discussed, which is useful to obviate the assumption of the input voltage knowledge. Numerical results provides a support for the given theory.
Javier Moreno-Valenzuela,Ernesto Orozco-Manríquez 대한기계학회 2009 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.23 No.12
We introduce a control scheme based on using a trajectory tracking controller and an algorithm for on-line timescaling of the reference trajectories. The reference trajectories are time-scaled according to the measured tracking errors and the detected torque/acceleration saturation. Experiments are presented to illustrate the advantages of the proposed approach.
On Output Feedback Tracking Control of Robot Manipulators with Bounded Torque Input
Javier Moreno-Valenzuela,Victor Santibanez,Ricardo Campa 대한전기학회 2008 International Journal of Control, Automation, and Vol.6 No.1
Motivated by the fact that in many industrial robots the joint velocity is estimated from position measurements, the trajectory tracking of robot manipulators with output feedback is addressed in this paper. The fact that robot actuators have limited power is also taken into account. Let us notice that few solutions for the torque-bounded output feedback tracking control problem have been proposed. In this paper we contribute to this subject by presenting a theoretical reexamination of a known controller, by using the theory of singularly perturbed systems. Motivated by this analysis, a redesign of that controller is introduced. As another contribution, we present an experimental evaluation in a two degrees-of-freedom revolute-joint direct-drive robot, confirming the practical feasibility of the proposed approach.
Saturated Proportional-integral-type Control of UWMRs with Experimental Evaluations
Javier Moreno-Valenzuela,Luis Gonzalo Montoya-Villegas,Ricardo Pérez-Alcocer,Raúl Rascón 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.1
In this paper, a saturated proportional-integral (PI)-type controller for unicycle-type wheeled mobile robots (UWMRs) is designed. The advantages of the novel controller are the robustness to external disturbances and the ability to keep the control into admissible limits. The desired trajectory should satisfy the so-called virtual reference system and be bounded for all time. Lyapunov’s theory and Barbalat’s lemma are used to prove the convergence of the tracking errors. An analysis of when the system is affected by disturbances is also given. To assess the performance of the proposed controller, an experimental real-time comparison of five schemes, including the proposed one, is presented. All the tested controllers guarantee the motion control goal and can produce saturated control action. A circular reference trajectory for the tracking task is used to perform the comparison. The proposed PI-type controller presents the best trajectory tracking performance, while the generated control action remains bounded.
A Practical PID Regulator with Bounded Torques for Robot Manipulators
Victor Santibanez,Karla Camarillo,Javier Moreno-Valenzuela,Ricardo Campa 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.3
This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators. Our control-ler considers the natural saturation problem given by the output of the control computer, the saturation phenomena of the internal PI velocity controller in the servo driver, and the actuator torque constraints of the robot manipulator. An approach based on the singular perturbations method is used to analyze the exponential stability of the closed-loop system. Experimental essays show the feasibility of the proposed controller. Furthermore, the theoretical results justify why the classical PID used in industrial robots preserves its exponential stability despite the saturation effects of the electronic control devices and the actuator torque constraints.
Partial Potential Energy Shaping Control of Torque-Driven Robot Manipulators in Joint Space
Jesús Sandoval,Rafael Kelly,Luis Cervantes-Pérez,Javier Moreno-Valenzuela,Víctor Santibáñez 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.7
The partial potential energy shaping control of fully actuated torque–driven robot manipulators in joint space is addressed in this paper. In contrast to the well-known potential energy shaping control of robot manipulators –which achieves global joint position regulation– here the term partial means to cancel out the natural potential energy at the joints selected by the user via the feedback control law. This formulation is useful when the robot joints are intended to track a desired time-varying trajectory that has joints with null potential energy. To the best of the authors’ knowledge, this is the first time that a formal analysis is presented on joint position tracking of robot manipulators by means of an adequate kinetic energy shaping plus total damping injection with partial potential energy shaping. The proposed controller is designed via an energy shaping plus damping injection approach, and the closed-loop system analysis is carried out via the Lyapunov’s theory and LaSalle’s theorem. Real-time experimental results on a manipulator arm model of two degrees of freedom illustrate the main results.
Effects of nonlinear friction compensation in the inertia wheel pendulum
Carlos Aguilar-Avelar,Ricardo Rodríguez-Calderón,Sergio Puga-Guzmán,Javier Moreno-Valenzuela 대한기계학회 2017 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.31 No.9
This paper discusses for the first time the effects of modeling, identifying and compensating nonlinear friction for the control of the inertia wheel pendulum and proposes a new algorithm for the stabilization of the pendulum at the upward unstable position. First, it is shown that the dynamic model with the proposed asymmetric Coulomb friction component characterizes better the real experimental platform of the system. Then, a feedback linearization based controller with friction compensation was designed, where theoretical results show the stability of the output trajectories. Finally, the new algorithm was experimentally compared with its version without friction compensation, showing that the new scheme yields better performance with less power consumption.