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Adaptive Non-singular Terminal Sliding Mode Fault-tolerant Control of Robotic Manipulators Based on Contour Error Compensation [article]

Zhu Dachang, Du Baolin, Cui Aodong, Zhu Puchen
2021 arXiv   pre-print
Secondly, an adaptive tuning approach is selected for avoid the demand of the bound of system uncertainty, and the stability of the proposed control strategy is demonstrated by the sense of the finite-time  ...  To achieve accurate contour tracking of robotic manipulators with dynamic uncertainties, coupling and actuator faults, an adaptive non-singular terminal sliding mode control (ANTSMC) based on cross-coupling  ...  time of 1s and 2s, but the adaptive tuning method of the proposed control strategy for this kind of mutation is better than the traditional PID controller and the contour tracking error of the cross coupling  ... 
arXiv:2110.08705v1 fatcat:egbgegqwyfd3hmvivtrct4hhsi

Virtual Computer Numerical Control System

K. Erkorkmaz, Y. Altintas, C.-H. Yeung
2006 CIRP annals  
This paper presents a comprehensive virtual simulation model for CNC systems.  ...  Various application examples are presented which include the prediction of contour errors, auto-tuning of feed drive controllers, toolpath and feed modification for improved cornering, and rapid identification  ...  Prediction of Contouring Accuracy The contour and tracking error prediction accuracy of the VCNC was verified by conducting diamond and circle machining tests on a three axis machining center, controlled  ... 
doi:10.1016/s0007-8506(07)60444-2 fatcat:egfygwitjzhw5oea45tsjrqqru

Adaptive Sliding Mode Contouring Control Design Based on Reference Adjustment and Uncertainty Compensation for Feed Drive Systems

Mathew Renny Msukwa, Santos Kihwele
2021 Tanzania Journal of Science  
This study focused on design of an adaptive sliding mode contouring control based on reference adjustment and uncertainty compensation for feed drive systems.  ...  Adversely, high-speed motions cause mechanical vibrations, high-energy consumption, and insufficient accuracy.  ...  The growing demands for precise products pose the need for high-speed production systems with high accuracy.  ... 
doi:10.4314/tjs.v47i5.23 fatcat:7rbfgykmivcq3ip2v2psg6apdm

Adaptive robust contour tracking of machine tool feed drive systems-a task coordinate frame approach

G.T.C. Chiu, Bin Yao
1997 Proceedings of the 1997 American Control Conference (Cat. No.97CH36041)  
By transforming the machine tool feed drive dynamics to this task coordinate frame, an adaptive robust control (ARC) law is derived to improve the contouring performance under system parameter variation  ...  The eectiveness of the proposed control law is demonstrated through the simulated control of an industrial CNC machine tool feed drive system.  ...  Recently, Y ao and Tomizuka [27, 29, 26] introduced Adaptive Robust Control (ARC) for high performance robust control of systems with parametric uncertainties and uncertain nonlinearities.  ... 
doi:10.1109/acc.1997.611952 fatcat:fmgkfi6v5fbhjag47cwpyrwqvq

Cell Contour Tracking and Data Synchronization for Real-Time, High-Accuracy Micropipette Aspiration

Xinyu Liu, Yifei Wang, Yu Sun
2009 IEEE Transactions on Automation Science and Engineering  
Index Terms-Cell contour visual tracking, high accuracy, micropipette aspiration, precise data synchronization.  ...  This paper presents an automated cell contour visual measurement technique and a data synchronization mechanism for real-time, high-accuracy mechanical characterization of individual cells with micropipette  ...  Simmons' group for assistance with interstitial cell preparation, and Prof. G. Downey and Prof. M. Glogauer for the assistance with human neutrophils preparations.  ... 
doi:10.1109/tase.2009.2021356 fatcat:xksrrmdsbjgnhciqd5xnqylfy4

Real-Time High-Accuracy Micropipette Aspiration for Characterizing Mechanical Properties of Biological Cells

Xinyu Liu, Yifei Wang, Yu Sun
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
This paper presents a micropipette aspiration system and a cell contour visual tracking algorithm for realtime, high-accuracy mechanical characterization of individual cells.  ...  Experimental results on both solid-like cells (interstitial cells) and liquid-like cells (neutrophils) demonstrate the effectiveness of the system and the visual tracking algorithm.  ...  Craig Simmons for assistance with interstitial cell preparations, and Profs. Gregory Downey and Michael Glogauer for the assistance with human neutrophils preparations.  ... 
doi:10.1109/robot.2007.363604 dblp:conf/icra/LiuWS07 fatcat:m3cxeshivrasnfnvgiulpr5mjm

Contouring Accuracy Improvement Using an Adaptive Feedrate Planning Method for CNC Machine Tools

Jian Chen, Fei Ren, Yuwen Sun
2016 Procedia CIRP  
The reduction of contour error plays an important role in achieving high accuracy machining. To reduce contour error, most of previous studies have focused on developing advanced control strategies.  ...  As an alternative strategy, contouring accuracy improvement using an adaptive feedrate planning method is proposed in this paper.  ...  Contour error model Generally speaking, good tracking performance is helpful for improving contouring accuracy.  ... 
doi:10.1016/j.procir.2016.10.012 fatcat:nfgcfii23fe7pnocbrdyk3o5re

Learning-Based Optimal Desired Compensation Adaptive Robust Control for a Flexure-Based Micro-Motion Manipulator

Shi Jia, Yao Jiang, Tiemin Li, Yunsong Du
2017 Applied Sciences  
achieve excellent tracking and contouring performances with parametric adaption and disturbance robustness.  ...  The proposed control approach was tested on the flexure-based micro-motion manipulator, with the comparative results of high-speed tracking experiments verifying that the proposed LODCARC controller can  ...  Thus, our study demonstrates that the proposed LODCARC control strategy can provide a great technology for flexure-based stages to achieve excellent high-speed tracking and contouring performances.  ... 
doi:10.3390/app7040406 fatcat:zmk5d335azbmjjfpsb4dteofsm

Identification of Contours, Detection &Tracking of Vehicles

Bhargavi Gudapati
2020 International Journal for Research in Applied Science and Engineering Technology  
Detection, tracking, and counting of moving vehicles are very essential for continuous monitoring, tracking, and controlling of moving vehicles.  ...  It is necessary to detect, track and count the moving vehicle as it is very important for controlling the flow of traffic.  ...  EXISTING SYSTEM Earlier implementations were carried using image/video processing and detecting the objects is used for monitoring and controlling traffic flow has gained attention for several years.  ... 
doi:10.22214/ijraset.2020.5430 fatcat:so24h54tkvhzxk3h22unnuc2wq

Cross-coupled precompensation method for the contouring accuracy of computer numerically controlled machine tools

Jih-Hua Chin, Tsung-Ching Lin
1997 International journal of machine tools & manufacture  
elimination of the steady-state errors, while the CCPM can achieve the most precise tracking for both linear and circular trajectory at any feedrat¢.  ...  Compared with the conventional cross-coupled system and uncoupled system by computer simulation and experiment, the pure precompensation method is better in dealing with the circular trajectory and the  ...  This control system contributes to machining accuracy, particularly those linear trajectory accuracies of high speed continuous feed drivers, by developing contour error compensators.  ... 
doi:10.1016/s0890-6955(96)00088-0 fatcat:iug4coq7ezffxahzvhnm242b7y

PO-0935: Evaluation of deformable image registration methods for dose monitoring in head and neck adaptive radiotherapy

B. Rigaud, A. Simon, J. Castelli, M. Gobeli, J.D. Ospina Arango, G. Cazoulat, O. Henry, P. Haigron, R. De Crevoisier
2015 Radiotherapy and Oncology  
A linear Kalman filter prediction was used to account for the tracking system latency in the geometric and dosimetric accuracy experiments.  ...  Results: The mean tracking system latency was 145ms (SD=7.4ms) for MLC tracking and 143ms (SD=17ms) for the tracking backup jaws.  ...  Materials and Methods: An individualised patient contour, created by contracting the external patient contour by distances depending on the control point weighting in the VMAT plan, was created using an  ... 
doi:10.1016/s0167-8140(15)40927-2 fatcat:c6ebqcvravfshjlfb2upmaqfou

Design of Contour Error Coupling Controller Based on Neural Network Friction Compensation

Sanxiu Wang, Guang Chen, Yueli Cui
2019 Mathematical Problems in Engineering  
Simulation results indicate that the proposed contour error control method can effectively compensate for the effect of friction and improve contour control accuracy.  ...  In two-axis servo contour motion control, friction and various uncertainties unavoidably exist, reducing the contour control accuracy.  ...  To improve contour accuracy, we must design a high-performance contour controller.  ... 
doi:10.1155/2019/1420380 fatcat:g4w547wh4zdipac3mnppkftp4i

Collaborative Tracking Control Strategy for Autonomous Excavation of a Hydraulic Excavator

Fattah Hanafi Sheikhha, Ali Afzalaghaeinaeini, Jaho Seo
2021 Engineering Proceedings  
system.  ...  To accomplish the goal, the study offers a collaboration of PID and fuzzy controllers that are used to compensate for contour errors and achieve accurate actuator position control, respectively.  ...  Simulation results confirm that the proposed control strategy provides high tracking accuracy by combining contour error compensation with cylinder position control.  ... 
doi:10.3390/ecsa-8-11333 fatcat:bxysrxcpfrbdfgv2erzqnegkla

Robust Tracking of a Cost-Effective Micro-Stereolithography System Based on a Compliant Nanomanipulator

Yue Cao, Zhen Zhang
2019 Micromachines  
Besides the requirement of the light source, the motion system requires ultra-high-precision tracking capability to reach the right location for every solidification event.  ...  The fabrication of a closed pattern will not begin by turning on the laser source until the tracking error reaches submicrons, and the fabrication results demonstrate that the cost-effective MSL system  ...  For the sake of periodic tracking, we applied the plug-in repetitive control (plug-in RC) [21] to the RBF-based robust adaptive control system.  ... 
doi:10.3390/mi10110785 pmid:31744040 pmcid:PMC6915434 fatcat:djvztpoklvc45gs2behtu5ygfa

Nonlinear Contour Tracking of a Voice Coil Motors-Driven Dual-Axis Positioning Stage Using Fuzzy Fractional PID Control with Variable Orders

Syuan-Yi Chen, Meng-Chen Yang, Guoqiang Wang
2021 Mathematical Problems in Engineering  
Moreover, the VOFFPID control system is designed to further improve the tracking responses of the FFPID control system.  ...  With an additional degree of freedom to the control parameters and fuzzy operation, the FFPID control system can upgrade the contour tracking performance of a conventional proportional-integral-differential  ...  VOFFPID controller in terms of the contour tracking accuracy is significant compared with that given by traditional PID and FFPID controllers. e contour tracking performance measures of the PID, FFPID  ... 
doi:10.1155/2021/6697942 fatcat:u6nea4g2kff3hd3dipy5ock7ne
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