State-restricted adaptive control of a multilevel rotating electromagnetic mechanical flexible device using
Rafael Pérez-San Lázaro1, Karen Jazmin Mendoza-Bautista1, Rita Q Fuentes-Aguilar2
1Tecnológico de Monterrey, School of Engineering and Sciences, Zapopan, Jalisco, Mexico.
ISA Transactions
|November 3, 2024
Summary
This study introduces a novel electromagnetic actuation system for controlling flexible robotic structures. The developed adaptive controller ensures precise, non-oscillatory shape regulation, validated through simulations and experiments.
Area of Science:
- Robotics
- Electromagnetism
- Control Systems
Background:
- Flexible robotic structures present challenges in precise shape control.
- Electromagnetic actuation offers a non-contact method for manipulating such systems.
Purpose of the Study:
- To develop and experimentally validate a multilevel electromagnetic actuation system for flexible rotatory robotic structures.
- To design an adaptive controller that accounts for motion restrictions in the flexible device.
Main Methods:
- Formulation of system motion using Euler-Lagrange and electromagnetic theories.
- Design of an adaptive controller modifying electromagnet currents to adjust interaction forces.
- Numerical simulations and experimental validation of the proposed control strategy.
Main Results:
- Successful design and experimental validation of the multilevel rotating device.
- Demonstration of the adaptive controller's effectiveness in simulations compared to state feedback.
- Experimental results confirm the controller's ability to achieve non-oscillatory motion.
Conclusions:
- The developed electromagnetic actuation system and adaptive controller are suitable for precise shape regulation of flexible robotic devices.
- The proposed control strategy effectively manages motion restrictions, outperforming traditional methods.
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