A robust anti-windup control design for electrically driven robots — Theory and experiment
Abstract A Robust Anti-Windup Control (RAWC) method is proposed for n-Degree-of-Freedom (DOF) electrically driven robots considering the actuator voltage saturation. The actuator’s saturation is fairly modeled by a smooth nonlinear function and the control design task is developed to avoid windup be...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Izadbakhsh, Alireza [verfasserIn] |
|---|
| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2011 |
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| Schlagwörter: |
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| Anmerkung: |
© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2011 |
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| Übergeordnetes Werk: |
Enthalten in: International Journal of Control, Automation and Systems - Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009, 9(2011), 5 vom: 12. Okt. |
|---|---|
| Übergeordnetes Werk: |
volume:9 ; year:2011 ; number:5 ; day:12 ; month:10 |
| Links: |
|---|
| DOI / URN: |
10.1007/s12555-011-0524-5 |
|---|
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| 520 | |a Abstract A Robust Anti-Windup Control (RAWC) method is proposed for n-Degree-of-Freedom (DOF) electrically driven robots considering the actuator voltage saturation. The actuator’s saturation is fairly modeled by a smooth nonlinear function and the control design task is developed to avoid windup besides being robust against both model uncertainties and external disturbances. As a major point, the paper also takes into consideration the fact that windup phenomenon can be caused by some strong disturbances. As a result, being robust to external disturbances promises safer situation against windup. The proposed controller needs no saturation output feedback and torque’s measurement for control implementation. The analytical studies as well as the experimental results produced using MATLAB/SIMULINK External Mode Control on a 2-DOF robot manipulator driven by geared Permanent magnet DC motors prove the superiority of the proposed approach. | ||
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10.1007/s12555-011-0524-5 doi (DE-627)SPR02634372X (SPR)s12555-011-0524-5-e DE-627 ger DE-627 rakwb eng Izadbakhsh, Alireza verfasserin aut A robust anti-windup control design for electrically driven robots — Theory and experiment 2011 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2011 Abstract A Robust Anti-Windup Control (RAWC) method is proposed for n-Degree-of-Freedom (DOF) electrically driven robots considering the actuator voltage saturation. The actuator’s saturation is fairly modeled by a smooth nonlinear function and the control design task is developed to avoid windup besides being robust against both model uncertainties and external disturbances. As a major point, the paper also takes into consideration the fact that windup phenomenon can be caused by some strong disturbances. As a result, being robust to external disturbances promises safer situation against windup. The proposed controller needs no saturation output feedback and torque’s measurement for control implementation. The analytical studies as well as the experimental results produced using MATLAB/SIMULINK External Mode Control on a 2-DOF robot manipulator driven by geared Permanent magnet DC motors prove the superiority of the proposed approach. Actuator saturation (dpeaa)DE-He213 anti-windup (dpeaa)DE-He213 conditional integration (dpeaa)DE-He213 modified internal model control (dpeaa)DE-He213 real-time control (dpeaa)DE-He213 Kalat, Ali Akbarzadeh aut Fateh, Mohammad Mehdi aut Rafiei, Mohammad Reza aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 9(2011), 5 vom: 12. Okt. (DE-627)SPR026303256 nnns volume:9 year:2011 number:5 day:12 month:10 https://dx.doi.org/10.1007/s12555-011-0524-5 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 9 2011 5 12 10 |
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10.1007/s12555-011-0524-5 doi (DE-627)SPR02634372X (SPR)s12555-011-0524-5-e DE-627 ger DE-627 rakwb eng Izadbakhsh, Alireza verfasserin aut A robust anti-windup control design for electrically driven robots — Theory and experiment 2011 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2011 Abstract A Robust Anti-Windup Control (RAWC) method is proposed for n-Degree-of-Freedom (DOF) electrically driven robots considering the actuator voltage saturation. The actuator’s saturation is fairly modeled by a smooth nonlinear function and the control design task is developed to avoid windup besides being robust against both model uncertainties and external disturbances. As a major point, the paper also takes into consideration the fact that windup phenomenon can be caused by some strong disturbances. As a result, being robust to external disturbances promises safer situation against windup. The proposed controller needs no saturation output feedback and torque’s measurement for control implementation. The analytical studies as well as the experimental results produced using MATLAB/SIMULINK External Mode Control on a 2-DOF robot manipulator driven by geared Permanent magnet DC motors prove the superiority of the proposed approach. Actuator saturation (dpeaa)DE-He213 anti-windup (dpeaa)DE-He213 conditional integration (dpeaa)DE-He213 modified internal model control (dpeaa)DE-He213 real-time control (dpeaa)DE-He213 Kalat, Ali Akbarzadeh aut Fateh, Mohammad Mehdi aut Rafiei, Mohammad Reza aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 9(2011), 5 vom: 12. Okt. (DE-627)SPR026303256 nnns volume:9 year:2011 number:5 day:12 month:10 https://dx.doi.org/10.1007/s12555-011-0524-5 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 9 2011 5 12 10 |
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10.1007/s12555-011-0524-5 doi (DE-627)SPR02634372X (SPR)s12555-011-0524-5-e DE-627 ger DE-627 rakwb eng Izadbakhsh, Alireza verfasserin aut A robust anti-windup control design for electrically driven robots — Theory and experiment 2011 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2011 Abstract A Robust Anti-Windup Control (RAWC) method is proposed for n-Degree-of-Freedom (DOF) electrically driven robots considering the actuator voltage saturation. The actuator’s saturation is fairly modeled by a smooth nonlinear function and the control design task is developed to avoid windup besides being robust against both model uncertainties and external disturbances. As a major point, the paper also takes into consideration the fact that windup phenomenon can be caused by some strong disturbances. As a result, being robust to external disturbances promises safer situation against windup. The proposed controller needs no saturation output feedback and torque’s measurement for control implementation. The analytical studies as well as the experimental results produced using MATLAB/SIMULINK External Mode Control on a 2-DOF robot manipulator driven by geared Permanent magnet DC motors prove the superiority of the proposed approach. Actuator saturation (dpeaa)DE-He213 anti-windup (dpeaa)DE-He213 conditional integration (dpeaa)DE-He213 modified internal model control (dpeaa)DE-He213 real-time control (dpeaa)DE-He213 Kalat, Ali Akbarzadeh aut Fateh, Mohammad Mehdi aut Rafiei, Mohammad Reza aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 9(2011), 5 vom: 12. Okt. (DE-627)SPR026303256 nnns volume:9 year:2011 number:5 day:12 month:10 https://dx.doi.org/10.1007/s12555-011-0524-5 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 9 2011 5 12 10 |
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10.1007/s12555-011-0524-5 doi (DE-627)SPR02634372X (SPR)s12555-011-0524-5-e DE-627 ger DE-627 rakwb eng Izadbakhsh, Alireza verfasserin aut A robust anti-windup control design for electrically driven robots — Theory and experiment 2011 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2011 Abstract A Robust Anti-Windup Control (RAWC) method is proposed for n-Degree-of-Freedom (DOF) electrically driven robots considering the actuator voltage saturation. The actuator’s saturation is fairly modeled by a smooth nonlinear function and the control design task is developed to avoid windup besides being robust against both model uncertainties and external disturbances. As a major point, the paper also takes into consideration the fact that windup phenomenon can be caused by some strong disturbances. As a result, being robust to external disturbances promises safer situation against windup. The proposed controller needs no saturation output feedback and torque’s measurement for control implementation. The analytical studies as well as the experimental results produced using MATLAB/SIMULINK External Mode Control on a 2-DOF robot manipulator driven by geared Permanent magnet DC motors prove the superiority of the proposed approach. Actuator saturation (dpeaa)DE-He213 anti-windup (dpeaa)DE-He213 conditional integration (dpeaa)DE-He213 modified internal model control (dpeaa)DE-He213 real-time control (dpeaa)DE-He213 Kalat, Ali Akbarzadeh aut Fateh, Mohammad Mehdi aut Rafiei, Mohammad Reza aut Enthalten in International Journal of Control, Automation and Systems Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers, 2009 9(2011), 5 vom: 12. Okt. (DE-627)SPR026303256 nnns volume:9 year:2011 number:5 day:12 month:10 https://dx.doi.org/10.1007/s12555-011-0524-5 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_21 GBV_ILN_24 GBV_ILN_72 GBV_ILN_181 GBV_ILN_496 GBV_ILN_2002 GBV_ILN_2003 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2060 GBV_ILN_2470 AR 9 2011 5 12 10 |
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International Journal of Control, Automation and Systems |
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2011 |
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Izadbakhsh, Alireza Kalat, Ali Akbarzadeh Fateh, Mohammad Mehdi Rafiei, Mohammad Reza |
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9 |
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Elektronische Aufsätze |
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Izadbakhsh, Alireza |
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10.1007/s12555-011-0524-5 |
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robust anti-windup control design for electrically driven robots — theory and experiment |
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A robust anti-windup control design for electrically driven robots — Theory and experiment |
| abstract |
Abstract A Robust Anti-Windup Control (RAWC) method is proposed for n-Degree-of-Freedom (DOF) electrically driven robots considering the actuator voltage saturation. The actuator’s saturation is fairly modeled by a smooth nonlinear function and the control design task is developed to avoid windup besides being robust against both model uncertainties and external disturbances. As a major point, the paper also takes into consideration the fact that windup phenomenon can be caused by some strong disturbances. As a result, being robust to external disturbances promises safer situation against windup. The proposed controller needs no saturation output feedback and torque’s measurement for control implementation. The analytical studies as well as the experimental results produced using MATLAB/SIMULINK External Mode Control on a 2-DOF robot manipulator driven by geared Permanent magnet DC motors prove the superiority of the proposed approach. © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2011 |
| abstractGer |
Abstract A Robust Anti-Windup Control (RAWC) method is proposed for n-Degree-of-Freedom (DOF) electrically driven robots considering the actuator voltage saturation. The actuator’s saturation is fairly modeled by a smooth nonlinear function and the control design task is developed to avoid windup besides being robust against both model uncertainties and external disturbances. As a major point, the paper also takes into consideration the fact that windup phenomenon can be caused by some strong disturbances. As a result, being robust to external disturbances promises safer situation against windup. The proposed controller needs no saturation output feedback and torque’s measurement for control implementation. The analytical studies as well as the experimental results produced using MATLAB/SIMULINK External Mode Control on a 2-DOF robot manipulator driven by geared Permanent magnet DC motors prove the superiority of the proposed approach. © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2011 |
| abstract_unstemmed |
Abstract A Robust Anti-Windup Control (RAWC) method is proposed for n-Degree-of-Freedom (DOF) electrically driven robots considering the actuator voltage saturation. The actuator’s saturation is fairly modeled by a smooth nonlinear function and the control design task is developed to avoid windup besides being robust against both model uncertainties and external disturbances. As a major point, the paper also takes into consideration the fact that windup phenomenon can be caused by some strong disturbances. As a result, being robust to external disturbances promises safer situation against windup. The proposed controller needs no saturation output feedback and torque’s measurement for control implementation. The analytical studies as well as the experimental results produced using MATLAB/SIMULINK External Mode Control on a 2-DOF robot manipulator driven by geared Permanent magnet DC motors prove the superiority of the proposed approach. © Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2011 |
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A robust anti-windup control design for electrically driven robots — Theory and experiment |
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