Tesis sobre el tema "Robust passivity"
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Abroug, Neil. "Commande robuste multi-variable des systèmes de comanipulation". Thesis, Strasbourg, 2018. http://www.theses.fr/2018STRAD027/document.
Texto completoAt the dawn of the fourth industrial revolution, robotic comanipulation is a key technology as it combines the dexterity of the human operator with the power of the machine. This task sharing between human and machine, in an uncertain and previously unknown environment, brings a lot of intrinsic difficulties to the nature of this interaction. This problem has been intensively studied over the last two decades by various research teams, mostly on devices with a single degree of freedom and with strong hypotheses about the controller structure. In this thesis, we deal with the problem of robotic comanipulation through the scope of the structured Hoo control, a framework particularly adapted to multivariable systems and which can be extended to a certain class of non-linear systems – manipulating robots are part of it – through linear parameter varying (LPV) models. The performance and stability requirements specific to comanipulation systems are expressed in terms of Hoo constraints and sector bounds. The control objectives thus formalised are solved by non-smooth optimization in order to take advantage of the particular structures of the comanipulation robot controllers. The validity of the methodology is carried out by intensive simulations and experiments on real devices
Ryalat, Mutaz. "Design and implementation of nonlinear and robust control for Hamiltonian systems : the passivity-based control approach". Thesis, University of Southampton, 2015. https://eprints.soton.ac.uk/398131/.
Texto completoHui, Xin. "Cascade Control of a Hydraulic Prosthetic Knee". Cleveland State University / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=csu1459772543.
Texto completoIhle, Ivar-Andre Flakstad. "Coordinated Control of Marine Craft". Doctoral thesis, Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, 2006. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-945.
Texto completoThis thesis contains new results on the problem of coordinating a group of vehicles. The main motivation driving this work is the development of control laws that steer individual members of a formation, such that desired group behavior emerges. Special attention is paid to analysis of coordination issues, in particular formation control of marine craft where robustness to unknown environmental forces is important. Coordinated control applications for marine craft include: underway replenishment, maintaining a formation for increased safety during travel and instrument resolution, and cooperative transportation. A review of formation control structures is given, together with a discussion of special issues that arise in coordination of independent vehicles.
The main contributions of this thesis may be grouped into two categories:
• Path-following designs for controlling a group of vehicles
• Multi-body motivated formation modeling and control
A previously developed path following design is used to control a group of vehicles by synchronizing the individual path parameters. The path following design is advantageous since the path parameter, i.e., that parameter which determines position along a path, is scalar; hence coordination is achieved with a little amount of real-time communication. The path following design is also extended to the output-feedback case for systems where only parts of the state vector are known. The path following scheme is exploited further in a passivity-based design for coordination where the structural properties render an extended selection of functions for synchronization available. Performance and robustness properties in different operational conditions can be enhanced with a careful selection of these functions. Two designs are presented; a cascaded interconnection where a consensus system provides synchronized path parameters as input to the individual path following systems renders time-varying formations possible and increases robustness to communication problems; a feedback interconnection which is more robust to vehicle failures. Both designs are extended to sampled-data designs where plant and controller dynamics are updated in continuous-time and path parameters are exchanged over a communication network where transmission occurs at discrete intervals. Bias estimation is included to provide integral action against slowlyvarying environmental forces and model uncertainties.
A scheme for formation modeling and control, inspired by analytical mechanics of multi-body systems and Lagrangian multipliers, is proposed. In this approach to formation control, various formation behaviors are determined by imposing constraint functions on group members. Several examples illustrate these formation behaviors. The stabilization scheme presented is made more robust with respect to unknown time-varying disturbances. In addition, the scheme is extended towards adaptive estimation of unknown plant and parameters. Furthermore, it can be applied with no major modifications to the case of position control for a single vehicle.
The formation control scheme is such that it may be used in combination with a set of position control laws for a single vessel, thus enabling the designer to choose from a large class of control laws available in the literature. The input-to-state stability (ISS) framework is utilised to investigate robustness to environmental and communication disturbances. A loop-transform, together with the ISS framework, yields an upper bound on the inter-vessel time delay below which formation stability is maintained.
Romero, Velázquez José Guadalupe. "Commande robuste par façonnement d’énergie de systèmes non-linéaires". Thesis, Paris 11, 2013. http://www.theses.fr/2013PA112019/document.
Texto completoThis thesis focuses on the design of robust control for nonlinear systems, mainly on mechanical systems. The results presented are to two situations widely discussed in control theory: 1) The stability of nonlinear systems disturbed; 2) The global tracking trajectory in mechanical systems having only knowledge of the position. We started giving a design method of robust controls to ensure regulation on non-passive output. In addition, if the system is perturbed (constant unmatched), rigorous proof to its rejection is provided. This result is based mainly on change of coordinates and integral dynamic control. When the scenario to deal are mechanical systems with time-varying matched and unmatched, disturbance, the system is endowed with strong properties as IISS (Integral Input-State Stable) and ISS (Input-State Stable). This is achieved based on the design method to rejection of constant disturbances (unmatched). However, due to the nonlinearity of the system, the controllers have a high complexity. For the same problem, a second and elegant result is given making a initial change of coordinate on the momenta variable, such that the controller significantly simplifies, preserving the aforementioned robustness properties. Finally, a convincing answer to the problem of global exponential tracking of mechanical systems is given taking into account only the position information. We solve this problem in two steps. First, some slight variation is presented to the proof of stability of a speed observer based on Immersion and Invariance theory recently published. Note that this is a speed observer satisfying the exponential convergence speed in mechanical systems. Secondly, and based on the change of coordinates (momenta), a globally exponentially stable tracking controller with position and velocity known is proposed. The combination of both results give the first global exponential tracking controller of mechanical systems without velocity measurements
Maya, Gonzalez Martin. "Frequency domain analysis of feedback interconnections of stable systems". Thesis, University of Manchester, 2015. https://www.research.manchester.ac.uk/portal/en/theses/frequency-domain-analysis-of-feedback-interconnections-of-stable-systems(c6415a11-3417-48ba-9961-ecef80b08e0e).html.
Texto completoKasal, Roshan Nivas. "Analysis of Passivity for Compliantly Controlled Robots". Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1599138459663234.
Texto completoJaballah, Belgacem. "Observateurs robustes pour le diagnostic et la dynamique des véhicules". Phd thesis, Université Paul Cézanne - Aix-Marseille III, 2011. http://tel.archives-ouvertes.fr/tel-00734379.
Texto completoWelge-Lüssen, Tobias Carsten Lutz. "Design of a passively actuated robot manipulator /". Zürich : ETH, 2008. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=17701.
Texto completoMohammed, Ali. "PASSIVITY-BASED TRACKING CONTROL OF A ROBOT MANIPULATOR USING AN EXTENDED STATE OBSERVER". Cleveland State University / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=csu1590253786792864.
Texto completoPantel, Erica. "Design and control of a passively stabilized multimodal hopping robot". Diss., [La Jolla] : University of California, San Diego, 2010. http://wwwlib.umi.com/cr/ucsd/fullcit?p1476561.
Texto completoTitle from first page of PDF file (viewed June 10, 2010). Available via ProQuest Digital Dissertations. Includes bibliographical references (leaf 68).
Boxerbaum, Alexander Steele. "A Whegs Robot Featuring a Passively Compliant, Actively Controlled Body Joint". Case Western Reserve University School of Graduate Studies / OhioLINK, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=case1270238370.
Texto completoLamy, Xavier. "Conception d'une Interface de Pilotage d'un Cobot". Phd thesis, Université Pierre et Marie Curie - Paris VI, 2011. http://tel.archives-ouvertes.fr/tel-00748986.
Texto completoTomlinson, Charles M. "Design and construction of a three degree-of-freedom lightweigh passively-damped robot arm". Thesis, Georgia Institute of Technology, 1987. http://hdl.handle.net/1853/17094.
Texto completoRomero, Velázquez José Guadalupe. "Commande robuste par façonnement d'énergie de systèmes non-linéaires". Phd thesis, Université Paris Sud - Paris XI, 2013. http://tel.archives-ouvertes.fr/tel-00797371.
Texto completoIngvast, Johan. "Quadruped robot control and variable leg transmissions". Doctoral thesis, Stockholm, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-600.
Texto completoFantoni-Coichot, Isabelle. "Commande non linéaire des systèmes mécaniques sous-motorisés". Compiègne, 2000. http://www.theses.fr/2000COMP1301.
Texto completoSplendori, Roberta. "Development of control algorithm for adjusting the needle insertion path during robot assisted breast biopsy procedure". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.
Buscar texto completoForbes, James Richard. "Design of Optimal Strictly Positive Real Controllers Using Numerical Optimization for the Control of Large Flexible Space Structures". Thesis, 2008. http://hdl.handle.net/1807/11142.
Texto completoTeo, Yik Ren. "Passivity-Based Control of a class of Underactuated Robotic System". Thesis, 2013. http://hdl.handle.net/1959.13/1039266.
Texto completoThe control problem investigated in this thesis is motivated by the desire to use standard off-the-shelf robotics combined with advanced motion control for aerospace automated manufacturing. Aerospace manufacturing is characterised by a low production rate, tight tolerances, and production of large components. These unique characteristics have led to the use of custom made robotic manipulators for automated manufacturing. Such robots are expensive and hard to maintain. Hence, the combination of standard off-the-shelf robots with advanced control is an attractive alternative for some applications. The use of the lighter robots brings the problem of undesired vibrations, which can affect the required tolerances. These vibrations appear in components of the robotic system, which are not actuated; and thus, the control problem result in that of an underactuated mechanical system. Since robot motion follows the physical laws of mechanics, motion control designs based on energy-related properties like passivity and dissipativity have been very successful. Passive systems are a class of dynamic systems in which a magnitude akin to energy is exchanged between the system and its environment, and the rate at which this magnitude is exchanged is not less than the increase of its storage in the system. When the systems under study are physical, passivity relates to the exchange of energy; thus, physical passive systems can never store more energy than that supplied by the environment, and under certain conditions passivity ensures stability. The analogy to magnitudes akin to energy allows one to use a powerful set of mathematical tools related to physical phenomena for designing control systems in different areas of science and technology. We consider an idealised physical system representative of a class of robotic systems that has a robotic manipulator mounted on a base that can vibrate due to the motion of the robotic manipulator. The base is assumed to be unactuated. We derive a Port- Hamiltonian System (PHS) model. The important property of PHS models is that of passivity, which leads to stability. This characteristic of PHS models has been exploited to develop different energy-based control techniques. In this project, we explore the use of a control design technique called Interconnection and Damping Assignment Passivity Based Control (IDA-PBC). This strategy seeks to design a controller that shapes the energy of the system through its interconnection and injects damping so that the closedloop system results in a PHS. With such closed-loop system, the closed-loop Hamiltonian can be used as natural Lyapunov function to demonstrate stability. We addressed the problem in different stages. We first consider the problem of set point regulation for the end effector of the robot. Then we extend the problem to incorporate integral action to increase robustness to slowly-varying disturbances using dynamic extension. Finally, we consider the problem of trajectory tracking with and without integral action. This thesis is the result of research collaboration between Boeing Research & Technology Australia and the University of Newcastle. The idealised physical system considered in the thesis is motivated by a SCARA-Tau parallel kinematic robot manipulator. The particular task envisaged for this robot requires the robot to be mounted such that the axis of rotation is horizontal. Such configuration results in a non-axial gravity field, and as the robot moves, a heavy tool it is expected to excite some of the resonant modes of both the robot and base on which the robot is mounted. The results obtained for the idealised physical model in terms of accuracy of tool motion show a significant performance improvement with respect to other techniques proposed in the literature. Furthermore, through the addition of integral action the system is able to deal with constant external disturbances and provide robustness to modelling uncertainty. The addition of integral action and the design of tracking controllers for underactuated mechanical system in the Port-Hamiltonian framework has not been developed in the literature. Hence, this is a significant contribution to the field.
Huang, Chin-I. y 黃勤鎰. "Controlling Constrained and Coordinated Robots by Using Adaptive, Sliding-Mode, and Passivity-Based Methods". Thesis, 2000. http://ndltd.ncl.edu.tw/handle/11283845987027035825.
Texto completo中原大學
電機工程學系
88
In this thesis, the motion and force control for asymptotic tracking of constrained robots and coordinated manipulators using adaptive, sliding mode and passivity-based methods is pro-posed. For constrained robots with joint flexibility, two strategies are employed. One method is to use a composite adaptive control plus backstepping method to obtain achieve zero mo-tion /force tracking errors. Another method is to use smooth sliding mode control plus back-stepping method to obtain good performance for flexible joint constrained manipulators under influence of disturbance. In robot control, the velocity measurement is often needed. Never-theless, under boundwidth consideration the velocity feedback has some disadvantages. Therefore, to avoid this a passivity-based observer and controller is designed. These strategies use the property of conceptual duality, i.e., the structure of controller and observer is similar can be switched with one another. The advantages of the proposed controller include its sim-ple structure and the design strategies are more easy and general. The simulation results show that the motion and force tracking errors converge to zero for both constrained and coordinat-ed robots.
Alghamdi, Norah K. "Modeling Human Learning in Games". Thesis, 2020. http://hdl.handle.net/10754/666444.
Texto completoYu-Cheng, Lin y 林育正. "A Study on Application of Passively Compliant End Effectors for Robot Manipulators". Thesis, 1998. http://ndltd.ncl.edu.tw/handle/88093183343457410786.
Texto completo大同工學院
機械工程研究所
86
Three application systems for real time modification of robot trajectory are studied in the thesis. The first system is the simulating system of automatic welding of robot.The second system, which can be applied in reverse engineering, is the measurement system of object's profile.The third system is for automatic surface polishing for unknown three-dimensional surface.The systems use passive end-effectors, which can be mounted on the wrist of industrial robots.As work proceeds, the end-effectors use position sensors to measure the deviation of the robot's programmed trajectories from the real workpiece profiles.A personal computer is used to acquire sensory data, and compute the desired adjustment of the robot motion.The adjustment is then sent to the robot controller and is executed in a point-to-point manner.Low bandwidth point-to-point control is possible because of the passive compliant movement of the end-effectors.The systems are tested experimentally.Experimental results show that real time robot trajectory compensation can be satisfactorily achieved in a point to point manner if a passive end-effector system is designed and installed as proposed in this thesis.