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Force and Position Control in Humans - The Role of Augmented Feedback
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Robust tracking control for mechanical systems using only position measurements.

Raúl Rascón1, David Rosas1, Ivan Hernandez-Fuentes1

  • 1Facultad de ingeniería, Universidad Autónoma de Baja California, Blvd. Benito Juárez y Calle de la Normal S/N, 21280, Mexicali, Baja California, Mexico.

ISA Transactions
|January 7, 2020
PubMed
Summary
This summary is machine-generated.

This study introduces a new control law for mechanical systems that only uses position data, eliminating the need for velocity measurements. This approach effectively handles friction and external disturbances for precise tracking control.

Keywords:
Asymptotic stabilityDiscontinuous controlMechanical systemsOutput feedbackRobust control

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Area of Science:

  • Robotics and Control Systems
  • Nonlinear System Dynamics
  • Mechanical Engineering

Background:

  • Tracking control in mechanical systems often requires complex feedback, including velocity measurements.
  • Existing control methods may struggle with friction and external disturbances.
  • Limitations in sensor availability necessitate simpler feedback strategies.

Purpose of the Study:

  • To develop a discontinuous control law for nonlinear and mechanical systems that relies solely on position feedback.
  • To enable accurate tracking control without velocity measurements.
  • To compensate for viscous friction, Coulomb friction, and external perturbations.

Main Methods:

  • A novel discontinuous control law is designed for second-order nonlinear and n-degrees-of-freedom (DOF) mechanical systems.
  • Stability analysis is performed using a strict Lyapunov function to prove asymptotic stability.
  • The control algorithm is validated through numerical simulations on a mass-spring-damper system and real-time experiments on a 2-DOF Scara robot.

Main Results:

  • The proposed control law successfully achieves tracking control using only position measurements.
  • The algorithm effectively compensates for various friction types and bounded external disturbances.
  • Numerical simulations and real-time experiments demonstrate the closed-loop system's performance and global stability of equilibrium points.

Conclusions:

  • The developed discontinuous control law offers a significant advancement by eliminating the need for velocity feedback in tracking control.
  • The approach is robust to friction and external perturbations, ensuring reliable performance in complex mechanical systems.
  • The method is validated for both simulated and real-world robotic applications, confirming its practical applicability and effectiveness.