Wu, Jundong, Wang, Yawu, Ye, Wenjun and Su, ChunYi (2019) Control Strategy Based on Fourier Transformation and Intelligent Optimization for Planar Pendubot. Information Sciences . ISSN 00200255 (In Press)

Text (In press, accepted manuscript) (application/pdf)
932kBControlStrategyBasedonFourierTransformationandIntell_2019_Information.pdf  Accepted Version Available under License Spectrum Terms of Access. 
Official URL: http://dx.doi.org/10.1016/j.ins.2019.03.051
Abstract
This paper presents a new control strategy based on Fourier transformation and intelligent optimization for a planar Pendubot with a passive second link, which can be treated as a secondorder nonholonomic system whose control has been an open and challenging issue. A controller acting within a time corresponding to the frequency of its fundamental harmonic term is designed to realize the system control objective, which is to move the system from its initial position to the target position. By employing Fourier transformation, a general expression of the controller composed of a constant term and harmonic terms is obtained. Next, the constant term is obtained by the angular momentum theorem, and the particle swarm optimization algorithm is employed to obtain the harmonic terms of the controller. A feedback control strategy based on a nonlinear disturbance observer is then applied to overcome the uncertainties/disturbances in the system. Finally, simulation results prove the validity of this control method.
Divisions:  Concordia University > Gina Cody School of Engineering and Computer Science > Building, Civil and Environmental Engineering 

Item Type:  Article 
Refereed:  Yes 
Authors:  Wu, Jundong and Wang, Yawu and Ye, Wenjun and Su, ChunYi 
Journal or Publication:  Information Sciences 
Date:  30 March 2019 
Digital Object Identifier (DOI):  10.1016/j.ins.2019.03.051 
Keywords:  Planar Pendubot; Nonholonomic systems; Fourier transformation; Particle swarm optimization algorithm; Nonlinear disturbance observer 
ID Code:  985240 
Deposited By:  MONIQUE LANE 
Deposited On:  08 Apr 2019 18:21 
Last Modified:  23 Mar 2021 01:00 
References:
H. Arai, K. Tanie, N. Shiroma Timescaling control of an underactuated manipulator Journal of the Robotics Society of Japan, 16 (4) (1998), pp. 561568M. Azad, R. Featherstone, A.m. b. b. c. f.a.u.p. robot Autonomous Robots, 40 (1) (2016), pp. 93107
M. Bhave, S. Janardhanan, L. Dewan Configuration control of planar underactuated robotic manipulator using terminal sliding mode IFACPapersOnLine, 49 (1) (2016), pp. 148153
S.C. Brown, K.M. Passino Intelligent control for an acrobot
Journal of Intelligent and Robotic Systems, 18 (3) (1997), pp. 209248
F. Bullo, K.M. Lynch Kinematic controllability and decoupled trajectory planning for underactuated mechanical systems Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation(2001), pp. 33003307
T. Butz Fourier transformation for pedestrians Springer, Berlin (2006)
W.H. Chen, D.J. Ballance, P.J. Gawthrop, J. O’Reilly A nonlinear disturbance observer for robotic manipulators IEEE Transactions on industrial Electronics, 47 (4) (2000), pp. 932938
A. De Luca, R. Mattone, G. Oriolo Stabilization of an underactuated planar 2r manipulator International Journal of Robust and Nonlinear Control: IFACAffiliated Journal, 10 (4)(2000), pp. 181198
R. Eberhart, Y. Shi Particle swarm optimization: developments, applications and resources Proceedings of the 2001 Congress on Evolutionary Computation (2001), pp. 8186
I. Fantoni, R. Lozano Nonlinear control for underactuated mechanical systems Springer (2002)
J.I. Imura, K. Kobayashi, T. Yoshikawa Nonholonomic control of 3 link planar manipulator with a free joint Proceedings of the 35th IEEE Conference on Decision and Control (1996), pp. 14351436
D. Katic, M. Vukobratovic Survey of intelligent control techniques for humanoid robots Journal of Intelligent and Robotic Systems, 37 (2) (2003), pp. 117141
I. Kolmanovsky, N.H. McClamroch Developments in nonholonomic control problems IEEE control systems, 15 (6) (1995), pp. 2036
X.Z. Lai, Y.W. Wang, J.Q. Cao, M. Wu A simple and quick control strategy for a class of firstorder nonholonomic manipulator Nonlinear Dynamics, 85 (4) (2016), pp. 22612276
X.Z. Lai, P. Zhang, Y.W. Wang, L.F. Chen, M. Wu Continuous state feedback control based on intelligent optimization for firstorder nonholonomic systems IEEE Transactions on Systems, Man, and Cybernetics: Systems (2018)
X.Z. Lai, J.H. She, W.H. Cao, S.X. Yang Stabilization of underactuated planar acrobot based on motionstate constraints International Journal of NonLinear Mechanics, 77 (2015), pp. 342347
L.U. Odhner, R.M. Raymond, A.M. Dollar Openloop precision grasping with underactuated hands inspired by a human manipulation strategy IEEE Transactions on Automation Science and Engineering, 10 (3) (2013), pp. 625633
G. Oriolo, M. Vendittelli A framework for the stabilization of general nonholonomic systems with an application to the plateball mechanism IEEE Transactions on Robotics, 21 (2) (2005), pp. 162175
G. Oriolo, Y. Nakamura Control of mechanical systems with secondorder nonholonomic constraints: Underactuated manipulators Proceedings of the 30th IEEE Conference on Decision and Control (1991), pp. 23982403
H.N. Rahimi, M. Nazemizadeh Dynamic analysis and intelligent control techniques for flexible manipulators: a review Advanced Robotics, 28 (2) (2014), pp. 6376
M. Reyhanoglu, A. van der Schaft, N.H. McClamroch, I. Kolmanovsky Dynamics and control of a class of underactuated mechanical systems. IEEE Transactions on Automatic Control, 44 (9) (1999), pp. 16631671
B. Roy, H.H. Asada. Nonlinear feedback control of a gravityassisted underactuated manipulator with application to aircraft assembly IEEE Transactions on Robotics, 25 (5) (2009), p. 1125
A. Sarabakha, N. Imanberdiyev, E. Kayacan, M.A. Khanesar, H. Hagras Novel levenbergmarquardt based learning algorithm for unmanned aerial vehicles Information Sciences, 417 (2017), pp. 361380
M. Sarfraz, F.u. Rehman Adaptive sliding mode control for a second order nonholonomic planar fourlink UMS Proceedings of the 2017 13th IEEE International Conference on Emerging Technologies (2017), pp. 16
M.R. Soltanpour, M.H. Khooban A particle swarm optimization approach for fuzzy sliding mode control for tracking the robot manipulator Nonlinear Dynamics, 74 (12) (2013), pp. 467478
Y.W. Wang, X.Z. Lai, L.F. Chen, H.F. Ding, M. Wu A quick control strategy based on hybrid intelligent optimization algorithm for planar nlink underactuated manipulators Information Sciences, 420 (2017), pp. 148158
S.S. Willson, P. Mullhaupt, D. Bonvin Quotient method for controlling the acrobat Proceedings of the 48th IEEE Conference held jointly with the 2009 28th Chinese Control Conference on Decision and Control (2009), pp. 17701775
X. Xin, M. Kaneda Analysis of the energybased swingup control of the acrobat International Journal of Robust and Nonlinear Control: IFACAffiliated Journal, 17 (16)(2007), pp. 15031524
P.Y. Xiong, X.Z. Lai, M. Wu A stable control for secondorder nonholonomic planar underactuated mechanical system: energy attenuation approach International Journal of Control, 91 (7) (2018), pp. 16301639
P. Zhang, X.Z. Lai, Y.W. Wang, C.Y. Su, M. Wu A quick position control strategy based on optimization algorithm for a class of firstorder nonholonomic system Information Sciences, 460461 (2018), pp. 264278
Repository Staff Only: item control page