Search

The high-precision trajectory tracking and chatter-free performance of the manipulators are of great significance to the improvement of the automation level. Therefore, in view of the problems of chattering and tracking performance degradation of multi-joint manipulators caused by uncertain factors such as external disturbances and modeling errors, an adaptive fuzzy sliding mode control of the manipulator based on an improved super-twisting algorithm is proposed. First, fuzzy control is chosen to approximate the uncertainty of the manipulator model, which reduces the influence of unknown disturbances on the system, and then the adaptive law is utilized to automatically modify and improve the fuzzy rules to enhance the approximation capability; Second, an improved super-twisting algorithm is used on this basis to put the discontinuous term into the integral term to avoid chattering and eliminate the approximation error; Finally, a comparative simulation experiment is carried out with the 3-DOF manipulator as the research object. The experimental results show that the method in this paper improves the convergence speed by up to 69.74% and the tracking error accuracy by up to 85.11% over the fuzzy control based on adaptive reaching law with no chattering and little difference in control inputs, thus verifying the feasibility and superiority of the method. [ABSTRACT FROM AUTHOR]

This paper presents a sliding mode control based on particle swarm optimization neural network and adaptive reaching law, and the proposed control method solves the problem of chattering and tracking performance degradation of a multi-joint manipulator caused by uncertainties such as external disturbances and modeling error. First, to address the problem that the precise dynamic system of the manipulator is difficult to establish, the radial basis function neural network (RBFNN) is used to approximate the uncertainty of the manipulator model, and the parameters of the neural network are optimized through the adaptive natural selection particle swarm optimization algorithm (ASelPSO) to improve the approximation ability and reduce the approximation error. Second, to eliminate chattering, adaptive reaching law is selected to improve the dynamic quality of approaching motion. Finally, a comparative simulation experiment is carried out with a 3-DOF manipulator as the research object. The results show that the control method has obvious improvements in eliminating chattering, improving tracking accuracy, and increasing convergence speed, which verifies the feasibility and superiority of the control scheme. [ABSTRACT FROM AUTHOR]

High-tilt reclined seats are one of the most popular configurations in highly automated vehicles; however, current restraint systems cannot protect out-of-position occupants in this type of seat. To reduce the risk of injury to reclined occupants, this study proposes a swiveling seat driven by occupant inertia and rotated in the sagittal plane during impact. The effectiveness of the swiveling seat was evaluated based on kinematics and injury to a human biomechanical model in a frontal sled test. A simulation matrix was constructed to design and optimize various safety devices, including the belt, pre-tensioner, knee constraint, and rotation stiffness for the swiveling seat. The results showed that (1) submarining occurred when the reclined occupant was on a fixed seat with a normal three-point belt during impact; (2) a fixed seat with a dynamic locking tongue and passenger lap pretension prevented the submarining, but produced a high lumbar force of 5359 N, which was higher than the spine injury criterion; and (3) the proposed swiveling seat with a matched restraint system could prevent submarining and produce lumbar force of 1787 N. The results demonstrated that the swiveling seat has high potential for occupant protection in intelligent driving scenarios. [ABSTRACT FROM AUTHOR]

This paper provides the consequences for trajectory tracking of uncertain n-DOF robotic manipulators in the presence of external disturbances and backlash. The control strategy consists of decoupling system based on inverse dynamics, sliding mode controller, and optimal controller. The tendency of robotic manipulators with gear backlash is to function in two unique phases: contact phase or backlash phase. The sliding mode controller works in the contact phase, after the decoupling of the manipulator, a adaptive second-order sliding mode controller is designed to guarantee system achieve desirable tracking precision and robust stability. The optimal controller works in the backlash phase, which makes the motor quickly traverse the backlash gap and re-contact the joints without collision. Finally, the proposal is verified in simulation using a model of a PUMA560 robot manipulator identified from real data. [ABSTRACT FROM AUTHOR]