Advanced motion control: From classical PID to nonlinear adaptive robust control

International Workshop on Advanced Motion Control, AMC

Volumn , Issue , 2010, Pages 815-829

  Yao, Bin ^a   Jiang, Chang ^b  

^a PURDUE UNIVERSITY   (United States)

^b ZHEJIANG UNIVERSITY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

ACHIEVABLE PERFORMANCE; ADAPTIVE ROBUST CONTROL; CONTROL ENGINEERS; CONTROL INPUT SATURATION; HIGH-PRECISION MOTION; INTERNAL STATE; LIMITED CAPACITY; LINEAR CONTROL THEORY; MECHANICAL SYSTEMS; NON-LINEAR CONTROLLERS; NON-LINEARITY; NONLINEAR EXTENSION; PERFORMANCE IMPROVEMENTS; PERFORMANCE REQUIREMENTS; PHYSICAL PARAMETERS; PID CONTROLLERS; PRECISION MOTION CONTROL; WORKING MECHANISMS;

CONTROL NONLINEARITIES; DYNAMICS; FUZZY CONTROL; LINEAR CONTROL SYSTEMS; LINEAR MOTORS; MODELS; MOTION CONTROL; MOTION PLANNING; ROBUST CONTROL; UNCERTAINTY ANALYSIS;

CONTROLLERS;

EID: 77953731471     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/AMC.2010.5464026     Document Type: Conference Paper

References (72)

1. V. I. Utkin, Sliding modes in control optimization. Springer Verlag, 1992.
2. M. J. Corless and G. Leitmann, "Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems, " IEEE Trans. on Automatic Control, vol. 26, no. 5, pp. 1139-1144, 1981.
3. A. S. I. Zinober, Deterministic control of uncertain control system. London, United Kingdom: Peter Peregrinus Ltd., 1990.
4. B. Yao, W. B. Gao, S. P. Chan, and M. Cheng, "Vsc coordinated control of two robot manipulators in the presence of environmental constraints, " IEEE Trans. on Automatic Control, vol. 37, no. 11, pp. 1806-1812, 1992.
5. B. Yao, S. P. Chan, and D. Wang, "Unified formulation of variable structure control schemes to robot manipulators, " IEEE Trans. on Automatic Control, vol. 39, no. 2, pp. 371-376, 1994, part of the paper appeared in the Proc. of American Control Conference, pp.1282-1286, 1992.
6. -, "Variable structure adaptive motion and force control of robot manipulators, " Automatica, vol. 30, no. 9, pp. 1473-1477, 1994.
7. -, "Vsc motion and force control of robot manipulators in the presence of environmental constraint uncertainties, " J. of Robotic Systems, vol. 11, no. 6, pp. 503-515, 1994.
8. R. A. Freeman and P. V. Kokotovic, "Design of 'softer' robust nonlinear control laws, " Automatica, vol. 29, no. 6, pp. 1425-1437, 1993.
9. Z. Qu, Robust control of nonlinear uncertain systems. John Wiley and Sons, Inc., 1998.
10. G. C. Goodwin and D. Q. Mayne, "A parameter estimation perspective of continuous time model reference adaptive control, " Automatica, vol. 23, no. 1, pp. 57-70, 1987.
11. K. J. Astrom, "Tuning and adaptation, " in IFAC World Congress, Plenary Volume, 1996, pp. 1-18.
12. I. D. Landau, R. Lozano, and M. M'Saad, Adaptive control. New York: Springer, 1998.
13. K. S. Narendra and A. M. Annaswamy, Stable adaptive systems. Prentice-Hall International, Inc., 1989.
14. B. Yao and M. Tomizuka, "Adaptive control of robot manipulators in constrained motion - controller design, " ASME J. Dyn. Syst., Meas., Control, vol. 117, no. 3, pp. 320-328, 1995.
15. -, "Robust adaptive motion and force control of robot manipulators in unknown stiffness environment, " in Proc. of IEEE Conf. on Decision and Control, San Antonio, 1993, pp. 142-147.
16. P. A. Ioannou and J. Sun, Robust adaptive control. New Jersey: Prentice-Hall, 1996.
17. M. Krstic, I. Kanellakopoulos, and P. V. Kokotovic, Nonlinear and adaptive control design. New York: Wiley, 1995.
18. R. Sepulchre, M.Jankovic, and P.Kokotovic, Constructive Nonlinear Control. New York: Springer, 1997.
19. B. Yao, "Desired compensation adaptive robust control, " ASME Journal of Dynamic Systems, Measurement, and Control, vol. 131, no. 6, pp. 1-7, 2009, #061001.
20. Y. Hong and B. Yao, "A globally stable saturated desired compensation adaptive robust control for linear motor systems with comparative experiments, " Automatica, vol. 43, no. 10, pp. 1840-1848, 2007. (Pubitemid 47374639)
21. J. Gong and B. Yao, "Output feedback neural network adaptive robust control of a class of SISO nonlinear systems, " ASME J. of Dynamic Systems, Measurement, and Control, vol. 128, no. 2, pp. 227-235, 2006. (Pubitemid 44085539)
22. B. Yao and L. Xu, "Output feedback adaptive robust control of uncertain linear systems with disturbances, " ASME Journal of Dynamic Systems, Measurement, and Control, vol. 128, no. 4, pp. 1-9, 2006.
23. B. Yao, "Integrated direct/indirect adaptive robust control of SISO nonlinear systems transformable to semi-strict feedback forms, " in American Control Conference, 2003, pp. 3020-3025, the O. Hugo Schuck Best Paper (Theory) Award from the American Automatic Control Council in 2004.
24. B. Yao and M. Tomizuka, "Adaptive robust control of MIMO nonlinear systems in semi-strict feedback forms, " Automatica, vol. 37, no. 9, pp. 1305-1321, 2001. (Pubitemid 32691027)
25. B. Yao and L. Xu, "Observer based adaptive robust control of a class of nonlinear systems with dynamic uncertainties, " International Journal of Robust and Nonlinear Control, vol. 15, no. 11, pp. 335-356, 2001. (Pubitemid 32296933)
26. J. Q. Gong and B. Yao, "Neural network adaptive robust control of nonlinear systems in semi-strict feedback form, " Automatica, vol. 37, no. 8, pp. 1149-1160, 2001, (the Special Issue on Neural Networks for Feedback Control). (Pubitemid 32610247)
27. B. Yao and M. Tomizuka, "Smooth robust adaptive sliding mode control of robot manipulators with guaranteed transient performance, " ASME J. Dyn. Syst., Meas., Control, vol. 118, no. 4, pp. 764-775, 1996, part of the paper also appeared in the Proc. of 1994 American Control Conference, pp.1176-1180.
28. -, "Adaptive robust control of SISO nonlinear systems in a semi- strict feedback form, " Automatica, vol. 33, no. 5, pp. 893-900, 1997, (Part of the paper appeared in Proc. of 1995 American Control Conference, pp2500-2505, Seattle).
29. B. Yao, "High performance adaptive robust control of nonlinear systems: a general framework and new schemes, " in Proc. of IEEE Conference on Decision and Control, San Diego, 1997, pp. 2489-2494.
30. B. Yao, F. Bu, J. Reedy, and G. Chiu, "Adaptive robust control of singlerod hydraulic actuators: theory and experiments, " IEEE/ASME Trans. on Mechatronics, vol. 5, no. 1, pp. 79-91, 2000.
31. P. Garimella and B. Yao, "Model based fault detection of an electro-hydraulic cylinder, " in American Control Conference, 2005, pp. 484-489.
32. A. Mohanty and B. Yao, "Indirect adaptive robust control of hydraulic manipulators with accurate parameter estimates, " IEEE Transaction on Control System Technology, 2010, (Accepted in 2009 and in press).
33. S. Liu and B. Yao, "Coordinate control of energy-saving programmable valves, " IEEE Transactions on Control System Technology, vol. 16, no. 1, pp. 34-45, 2008.
34. -, "Automated modeling of cartridge valve flow mapping, " IEEE/ASME Transactions on Mechatronics, vol. 11, no. 4, pp. 381-388, 2006.
35. -, "Energy-saving control of single-rod hydraulic cylinders with programmable valves and improved working mode selection, " The SAE Transactions - Journal of Commercial Vehicle, no. SAE 2002-01-1343, pp. 51-61, 2002.
36. B. Yao, M. Al-Majed, and M. Tomizuka, "High performance robust motion control of machine tools: An adaptive robust control approach and comparative experiments, " IEEE/ASME Trans. on Mechatronics, vol. 2, no. 2, pp. 63-76, 1997.
37. B. Yao and M. Tomizuka, "Comparative experiments of robust and adaptive control with new robust adaptive controllers for robot manipulators, " in Proc. of IEEE Conf. on Decision and Control, Orlando, 1994, pp. 1290-1295.
38. -, "Adaptive robust motion and force tracking control of robot manipulators in contact with compliant surfaces with unknown stiffness, " ASME J. Dyn. Syst., Meas., Control, vol. 120, no. 2, pp. 232-240, 1998.
39. L. Xu and B. Yao, "Output feedback adaptive robust precision motion control of linear motors, " Automatica, vol. 37, no. 7, pp. 1029-1039, the finalist for the Best Student Paper award of ASME Dynamic System and Control Division in IMECE00, 2001. (Pubitemid 32498986)
40. -, "Adaptive robust precision motion control of linear motors with negligible electrical dynamics: theory and experiments, " IEEE/ASME Transactions on Mechatronics, vol. 6, no. 4, pp. 444-452, 2001.
41. L. Lu, Z. Chen, B. Yao, and Q. Wang, "Desired compensation adaptive robust control of a linear motor driven precision industrial gantry with improved cogging force compensation, " IEEE/ASME Transactions on Mechatronics, vol. 13, no. 6, pp. 617-624, 2008.
42. J. Q. Gong, L. Guo, H.-S. Lee, and B. Yao, "Modeling and cancellation of pivot nonlinearity in hard disk drive, " IEEE Transaction on Magnetics, vol. 38, no. 5, pp. 3560-3565, 2002.
43. -, "Modeling and cancellation of pivot nonlinearity in hard disk drive, " in the American Control Conference, Alaska, 2002, pp. 4111-4115.
44. J. Zhong and B. Yao, "Adaptive robust precision motion control of a piezoelectric positioning stage, " IEEE Transactions on Control System Technology, vol. 16, no. 5, pp. 1039-1046, 2008.
45. -, "Adaptive robust repetitive control of piezoelectric actuators, " in the ASME International Mechanical Engineers Congress and Exposition (IMECE), IMECE2005-81967, 2005, pp. 1-8, finalist of the Best Student Paper Competition of the ASME Dynamic Systems and Control Division (DSCD).
46. X. Zhu, G. Tao, B. Yao, and J. Cao, "Adaptive robust posture control of a pneumatic muscle driven parallel manipulator, " Automatica, vol. 44, no. 9, pp. 2248-2257, 2008.
47. -, "Adaptive robust posture control of a pneumatic muscles driven parallel manipulator with redundancy, " IEEE/ASME Transactions on Mechatronics, vol. 13, no. 4, pp. 441-450, 2008.
48. -, "Integrated direct/indirect adaptive robust posture trajectory control of a parallel manipulator driven by pneumatic muscles, " IEEE Transaction on Control System Technology, vol. 17, no. 3, pp. 576-588, 2009.
49. L. Yi and M. Tomizuka, "Two degree-of-freedom control with adaptive robust control for hard disk servo systems, " IEEE/ASME Transactions on Mechatronics, vol. 4, no. 1, pp. 17-24, 1999.
50. H. D. Taghirad and E. Jamei, "Adaptive robust controller synthesis for hard disk servo systems, " in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004, pp. 1154-1159.
51. S. Chantranuwathana and H. Peng, "Adaptive robust control for active suspensions, " in Proc. of the American Control Conference, 1999, pp. 1702-1706.
52. -, "Modular adaptive robust control of SISO nonlinear systems in a semi-strict feedback form, " Int. J. Robust Nonlinear Control, vol. 14, pp. 581-601, 2004.
53. F. Bu and H.-S. Tan, "Pneumatic brake control for precision stopping of heave-duty vehicles, " IEEE Transactions on Control System Technology, vol. 15, no. 1, pp. 53-64, 2007.
54. B. Yao and A. Palmer, "Indirect adaptive robust control of SISO nonlinear systems in semi-strict feedback forms, " in IFAC World Congress, T-Tu-A03-2, 2002, pp. 1-6.
55. B. Yao and R. Dontha, "Integrated direct/indirect adaptive robust precision control of linear motor drive systems with accurate parameter estimations, " in the 2nd IFAC Conference on Mechatronics Systems, 2002, pp. 633-638.
56. P. Garimella and B. Yao, "An adaptive robust framework for modelbased state fault detection, " in American Control Conference, 2006, pp. 5692-5697.
57. S. A. Bortoff, R. R. Kohan, and R. Milman, "Adaptive control of variable reluctance motors: a spline function approach, " IEEE Trans. on Industrial Electronics, vol. 45, no. 3, pp. 433-444, 1998.
58. R. T. Novotnak, J. Chiasson, and M. Bodson, "High-performance motion control of an induction motor with magnetic saturation, " IEEE Trans. on Control Systems Technology, vol. 7, no. 3, pp. 315-327, 1999.
59. C. C. de Wit, H. Olsson, K. J. Astrom, and P. Lischinsky, "A new model for control of systems with friction, " IEEE Trans. on Automatic Control, vol. 40, no. 3, pp. 419-425, 1995.
60. B. Armstrong-Helouvry, P. Dupont, and C. Canudas de Wit, "A survey of models, analysis tools and compensation methods for the control of machines with friction, " Automatica, vol. 30, no. 7, pp. 1083-1138, 1994.
61. L. Xu and B. Yao, "Adaptive robust precision motion control of linear motors with ripple force compensation: Theory and experiments, " in Proc. of IEEE Conference on Control Applications, Anchorage, 2000, pp. 373-378, (Winner of the Best Student Paper Competition). (Pubitemid 32188663)
62. B. Yao, "Desired compensation adaptive robust control, " in The ASME International Mechanical Engineers Congress and Exposition (IMECE), DSC-Vol.64, Anaheim, 1998, pp. 569-575.
63. P. Dupont, B. Armstrong, and V. Hayward, "Elasto-plastic friction model: Contact compliance and stiction, " in Proceedings of the American Control Conference, Chicago, Illinois, USA, 2000.
64. V. Lampaert, "Modelling and control of dry sliding friction in mechanical systems, " Ph.D. dissertation, Mechanical Engineering and Automation, Catholic University of Leuven, Heverlee (Leuven), Belgium, 2003.
65. C. C. de Wit and P. Lischinsky, "Adaptive friction compensation with partially known dynamic friction model, " International Jouranl of Adaptive Control and Signal Processing, vol. 11, pp. 65-80, 1997.
66. L. Xu and B. Yao, "Adaptive robust control of mechanical systems with nonlinear dynamic friction compensation, " International Journal of Control, vol. 81, no. 2, pp. 167-176, 2008.
67. B. Bona, M. Indri, and N. Smaldone, "Rapid prototyping of a modelbased control with friction compensation for a direct-drive robot, " IEEE/ASME Transactions on Mechatronics, vol. 11, no. 5, pp. 576-584, 2006.
68. L. Freidovich, A. Robertsson, A. Shiriaev, and R. Johansson, "Friction compensation based on lugre model, " in 45th IEEE Conference on Decision and Control, San Diego, USA, December 2006.
69. L. Lu, B. Yao, Q. Wang, and Z. Chen, "Adaptive robust control of linear motors with dynamic friction compensation using modified lugre model, " Automatica, vol. 45, no. 12, pp. 2890-2896, 2009.
70. J.Q.Gong and B. Yao, "Global stabilization of a class of uncertain systems with saturated adaptive robust controls, " in IEEE Conf. on Decision and Control, Sydney, 2000, pp. 1882-1887.
71. A. R. Teel, "Global stabilization and restricted tracking for multiple integrators with bounded controls, " Systems and Control letters, vol. 18, pp. 165-171, 1992.
72. Y. Hong and B. Yao, "A globally stable high performance adaptive robust control algorithm with input saturation for precision motion control of linear motor drive system, " IEEE/ASME Transactions on Mechatronics, vol. 12, no. 2, pp. 198-207, 2007.