Nonlinear Control for L-Shaped Arm Using Central Pattern Generator

Wataru Hirayanagi; Mingcong Deng; Yuichi Noge

doi:10.1109/ICNSC48988.2020.9238114

Nonlinear Control for L-Shaped Arm Using Central Pattern Generator

Wataru Hirayanagi, Mingcong Deng, Yuichi Noge

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

In recent years, the weight of the robotic arm has been reduced to achieve high-speed operation in robotic industry. On the other hand, the rigidity of the arm is reduced and the vibration is increased. Its vibration must be suppressed to prevent accuracy in work to be decreased. In this paper, the piezoelectric actuator is used as an actuator to control the vibration of the L-shaped arm. However, hysteresis nonlinearity exists in the piezoelectric actuator. The operator based control system of the L-shaped arm is designed and its stability is confirmed by simulation. Moreover, CPG corresponding to hysteresis nonlinearity is considered and is added to the control system. The effect of vibration suppression is verified by simulation.

Original language	English
Title of host publication	2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728168531
DOIs	https://doi.org/10.1109/ICNSC48988.2020.9238114
Publication status	Published - Oct 30 2020
Externally published	Yes
Event	2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020 - Nanjing, China Duration: Oct 30 2020 → Nov 2 2020

Publication series

Name	2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020

Conference

Conference	2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020
Country/Territory	China
City	Nanjing
Period	10/30/20 → 11/2/20

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Computer Networks and Communications
Statistics, Probability and Uncertainty
Control and Optimization
Sensory Systems

Access to Document

10.1109/ICNSC48988.2020.9238114

Cite this

Hirayanagi, W., Deng, M., & Noge, Y. (2020). Nonlinear Control for L-Shaped Arm Using Central Pattern Generator. In 2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020 Article 9238114 (2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICNSC48988.2020.9238114

Nonlinear Control for L-Shaped Arm Using Central Pattern Generator. / Hirayanagi, Wataru; Deng, Mingcong; Noge, Yuichi.
2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. 9238114 (2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hirayanagi, W, Deng, M & Noge, Y 2020, Nonlinear Control for L-Shaped Arm Using Central Pattern Generator. in 2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020., 9238114, 2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020, Institute of Electrical and Electronics Engineers Inc., 2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020, Nanjing, China, 10/30/20. https://doi.org/10.1109/ICNSC48988.2020.9238114

Hirayanagi W, Deng M, Noge Y. Nonlinear Control for L-Shaped Arm Using Central Pattern Generator. In 2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020. Institute of Electrical and Electronics Engineers Inc. 2020. 9238114. (2020 IEEE International Conference on Networking, Sensing and Control, ICNSC 2020). doi: 10.1109/ICNSC48988.2020.9238114

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AB - In recent years, the weight of the robotic arm has been reduced to achieve high-speed operation in robotic industry. On the other hand, the rigidity of the arm is reduced and the vibration is increased. Its vibration must be suppressed to prevent accuracy in work to be decreased. In this paper, the piezoelectric actuator is used as an actuator to control the vibration of the L-shaped arm. However, hysteresis nonlinearity exists in the piezoelectric actuator. The operator based control system of the L-shaped arm is designed and its stability is confirmed by simulation. Moreover, CPG corresponding to hysteresis nonlinearity is considered and is added to the control system. The effect of vibration suppression is verified by simulation.

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Nonlinear Control for L-Shaped Arm Using Central Pattern Generator

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