Gravity compensation and optimal control of actuated multibody system dynamics

Abstract This work investigates the gravity compensation topic, from a control perspective. The gravity could be levelled by a compensating mechanical system or in the control law, such as proportional derivative (PD) plus gravity, sliding mode control, or computed torque method. The gravity compens...

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Autores principales:	Saeed Rafee Nekoo, José Ángel Acosta, Anibal Ollero
Formato:	article
Lenguaje:	EN
Publicado:	Wiley 2022
Materias:	Control engineering systems. Automatic machinery (General) TJ212-225
Acceso en línea:	https://doaj.org/article/7f5c2dc8d4f04fc390d11c73ea3dc8c4
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spelling	oai:doaj.org-article:7f5c2dc8d4f04fc390d11c73ea3dc8c42021-12-02T15:00:29ZGravity compensation and optimal control of actuated multibody system dynamics1751-86521751-864410.1049/cth2.12206https://doaj.org/article/7f5c2dc8d4f04fc390d11c73ea3dc8c42022-01-01T00:00:00Zhttps://doi.org/10.1049/cth2.12206https://doaj.org/toc/1751-8644https://doaj.org/toc/1751-8652Abstract This work investigates the gravity compensation topic, from a control perspective. The gravity could be levelled by a compensating mechanical system or in the control law, such as proportional derivative (PD) plus gravity, sliding mode control, or computed torque method. The gravity compensation term is missing in linear and nonlinear optimal control, in both continuous‐ and discrete‐time domains. The equilibrium point of the control system is usually zero and this makes it impossible to perform regulation when the desired condition is not set at origin or in other cases, where the gravity vector is not zero at the equilibrium point. The system needs a steady‐state input signal to compensate for the gravity in those conditions. The stability proof of the gravity compensated control law based on nonlinear optimal control and the corresponding deviation from optimality, with proof, are introduced in this work. The same concept exists in discrete‐time control since it uses analog to digital conversion of the system and that includes the gravity vector of the system. The simulation results highlight two important cases, a robotic manipulator and a tilted‐rotor hexacopter, as an application to the claimed theoretical statements.Saeed Rafee NekooJosé Ángel AcostaAnibal OlleroWileyarticleControl engineering systems. Automatic machinery (General)TJ212-225ENIET Control Theory & Applications, Vol 16, Iss 1, Pp 79-93 (2022)
institution	DOAJ
collection	DOAJ
language	EN
topic	Control engineering systems. Automatic machinery (General) TJ212-225
spellingShingle	Control engineering systems. Automatic machinery (General) TJ212-225 Saeed Rafee Nekoo José Ángel Acosta Anibal Ollero Gravity compensation and optimal control of actuated multibody system dynamics
description	Abstract This work investigates the gravity compensation topic, from a control perspective. The gravity could be levelled by a compensating mechanical system or in the control law, such as proportional derivative (PD) plus gravity, sliding mode control, or computed torque method. The gravity compensation term is missing in linear and nonlinear optimal control, in both continuous‐ and discrete‐time domains. The equilibrium point of the control system is usually zero and this makes it impossible to perform regulation when the desired condition is not set at origin or in other cases, where the gravity vector is not zero at the equilibrium point. The system needs a steady‐state input signal to compensate for the gravity in those conditions. The stability proof of the gravity compensated control law based on nonlinear optimal control and the corresponding deviation from optimality, with proof, are introduced in this work. The same concept exists in discrete‐time control since it uses analog to digital conversion of the system and that includes the gravity vector of the system. The simulation results highlight two important cases, a robotic manipulator and a tilted‐rotor hexacopter, as an application to the claimed theoretical statements.
format	article
author	Saeed Rafee Nekoo José Ángel Acosta Anibal Ollero
author_facet	Saeed Rafee Nekoo José Ángel Acosta Anibal Ollero
author_sort	Saeed Rafee Nekoo
title	Gravity compensation and optimal control of actuated multibody system dynamics
title_short	Gravity compensation and optimal control of actuated multibody system dynamics
title_full	Gravity compensation and optimal control of actuated multibody system dynamics
title_fullStr	Gravity compensation and optimal control of actuated multibody system dynamics
title_full_unstemmed	Gravity compensation and optimal control of actuated multibody system dynamics
title_sort	gravity compensation and optimal control of actuated multibody system dynamics
publisher	Wiley
publishDate	2022
url	https://doaj.org/article/7f5c2dc8d4f04fc390d11c73ea3dc8c4
work_keys_str_mv	AT saeedrafeenekoo gravitycompensationandoptimalcontrolofactuatedmultibodysystemdynamics AT joseangelacosta gravitycompensationandoptimalcontrolofactuatedmultibodysystemdynamics AT anibalollero gravitycompensationandoptimalcontrolofactuatedmultibodysystemdynamics
_version_	1718389146655916032

Gravity compensation and optimal control of actuated multibody system dynamics

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