With the structural error and friction compensated simultaneously, a compensation control strategy for the 2 3PUS + S) parallel manipulator is designed based on the Augmented PD control method and experiments are performed.
The proposed control strategy, which transforms the tracking control problem into a state feedback control problem, includes two terms, one of which is state feedback control used to stabilize system while another employs multiple resonant controllers applied to achieve harmonics compensation control.
By taking the full advantage of the packet-based transmission in NCSs, a delay compensation control approach is proposed to actively compensate the network-induced delay in Markovian jump linear system framework.
In this paper, a generalized control framework is proposed to incorporate the various assistive control methods in one general controller structure, which consists of Feedforward Disturbance Compensation Control, Reference Tracking Feedback Control, Reference Tracking Feedforward Control, Model-based Torque Control.
Taking trace error of torque control system to zero as control object, this article designs the adaptive nonlinear optimal compensation control strategy, which regards torque control output of closed-loop controller converging to zero as the control target, to optimize torque tracking performance.
Therefore, it is needed to research which parameter has greater effects on the force control performance and should be optimized and compensated and which parameter has smaller effects and can be ignored in the compensation control and structure optimization.
In this sense, simulations show a good perfonnance of the proposed compensation control structure.
To address this problem, two types of feedforward compensation control algorithms have been investigated.
This characteristic greatly complicates the task of improving the positioning accuracy using traditional compensation control methods.
In this paper, a time delay compensation control structure for a robot teleoperation system is presented.
Simulation results show the effectiveness of the proposed adaptive failure compensation control design.
