Category Ranking
98%
Total Visits
921
Avg Visit Duration
2 minutes
Citations
20
Article Abstract
Flexible deformation and nonlinear friction in ball-screw drive systems are important factors that restrict the improvement of tracking performance. In this paper, a high-performance adaptive controller is presented for ball screw drives to suppress vibration and improve tracking accuracy. A two-inertia model with torsional vibration state is established to fit the dynamics of the drive system while the continuously differentiable LuGre model characterizes the nonlinear friction disturbance. Based on the established nonlinear model, an adaptive robust controller (ARC) is designed by using the backstepping approach to overcome the parametric uncertainties and hard-to-model dynamics. The dual-observer is employed in the controller to observe and compensate for the nonlinear friction, which improves the low-velocity tracking performance of the ball-screw drives. Meanwhile, first-order filters are introduced by dynamic surface control (DSC) technique to eliminate the "complexity explosion" problem caused by the backstepping method. The controller theoretically guarantees that all signals of the closed-loop system are bounded, and the convergence of tracking error is also ensured via Lyapunov analysis. The effectiveness of the proposed controller is verified through simulation and experimental results.
Download full-text PDF |
Source |
|---|---|
| http://dx.doi.org/10.1016/j.isatra.2025.05.050 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
A mechanical route for cooperative transport in autonomous robotic swarms.
Nat Commun
September 2025
Department of Artificial Intelligence, Donders Center for Cognition, Radboud University, Nijmegen, The Netherlands.
Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the effect in artificial swarms remains challenging, as it requires synchronization in a noisy many-body system. Here we show that cooperative transport spontaneously emerges in swarms of stochastic self-propelled robots.
View Article and Find Full Text PDFReal time tire stiffness estimation using enhanced GDM and RLS for autonomous vehicles.
Sci Rep
August 2025
School of Mechanical and Automotive Engineering, Xiamen University of Technology, Xiamen, 361024, Fujian, China.
Yaw stability is essential for vehicle lateral control and is strongly influenced by the nonlinear dynamics of tire-road interaction. Tire Lateral Stiffness (TLS), a key parameter in this process, varies with tire properties and road conditions. Accurate TLS estimation is crucial for autonomous driving safety, especially during aggressive maneuvers or on low-friction surfaces.
View Article and Find Full Text PDFImproved fast non-singular adaptive super-twisting sliding mode control based on radial basis function neural network approximation for robot joint module.
ISA Trans
August 2025
State Key Laboratory of Mechanical Transmissions for Advanced Equipment, Chongqing University, Chongqing 400030, China. Electronic address:
This study proposes an improved fast non-singular adaptive super-twisting control scheme based on neural network to address the precise control issues of robot joint modules. Firstly, to facilitate the application of advanced control algorithms, a second-order state-space model of the joint module considering nonlinear friction and stiffness is established using the Lagrangian energy equation method. Then, an improved fast non-singular terminal sliding surface is proposed to avoid singularity and accelerate convergence.
View Article and Find Full Text PDFModel Predictive Path Integral Control of IRIS Robot Using RBF Identifier and Extended Kalman Filter.
Proc Am Control Conf
July 2025
Mojtaba Esfandiari, Pengyuan Du, and Iulian Iordachita are with the Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA.
Modeling and controlling cable-driven snake robots is a challenging problem due to nonlinear mechanical properties such as hysteresis, variable stiffness, and unknown friction between the actuation cables and the robot body. This challenge is more significant for snake robots in ophthalmic surgery applications, such as the Improved Integrated Robotic Intraocular Snake (IRIS), given its small size and lack of embedded sensory feedback. Data-driven models take advantage of global function approximations, reducing complicated analytical models' challenge and computational costs.
View Article and Find Full Text PDFNonlinear dual-motor steer-by-wire system cooperative control via fixed-time command-filtered.
ISA Trans
August 2025
College of Transportation, Shandong University of Technology, Zibo 255000, China. Electronic address:
This paper investigates a novel dual-motor steer-by-wire (DMSBW) system to enhance the reliability of steer-by-wire (SBW) systems. However, various nonlinearities in the DMSBW system complicate the torque variation in each subsystem, resulting in different dynamic responses of the two motors, which leads to serious coordination problems in the system. Therefore, a fixed-time command-filtered cooperative control strategy is proposed.
View Article and Find Full Text PDF