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Active Force Control

Professor Dr Musa Mailah

Intelligent Active Force Control (IAFC) Research Group


Department of Applied Mechanics, Faculty of Mechanical Engineering
Universiti Teknologi Malaysia
81310 Skudai, Johor
Outline
• Introduction
• AFC algorithm
• PD and AFC
• AFC applied to a robot arm
• Performance evaluation
• Other applications of AFC
• Current research and future directions
• Conclusions
Introduction
Trend and emphasis in control - Robust Control
Active Force Control (AFC):
• A disturbance cancellation control scheme, also known as
disturbance rejection control, disturbance observer, robust control
• Proposed in ‘complete’ form by Hewit and Burdess (1981);
initiated by Johnson (1971) and Davison (1976)
• Based on principle of invariance and Newton second law of
motion
• Relies on measurement and estimation of parameters
• Use a very simple control algorithm, reduced computational load
and readily implemented in real-time
AFC Algorithm
Disturbances
Q
Dynamic
Actuator system
+
+ F + a 1 x
Outer loop Ga(s) Actual
G(s)
control s2 position
+
Force Measured M' estimation methods:
Accelerometer
sensor acceleration
f Crude Approximation
a'
On-line Neural Network
Estimated
W(s) M' mass
Iterative Learning Algorithm

Measured force F' + - Adaptive Fuzzy Logic

Knowledge-based
Computed estimated disturbance Q'
Genetic Algorithm

AFC algorithm: f = W(s) Q’ = W(s) (F’ – M’a’) Particle Swarm Optimisation

Where W(s): Weighting function


Q’: Computed estimated disturbance
F’: Measured force
a’: Measured acceleration
M’: Estimated mass
PD and AFC
Disturbance

Commanded Actual
trajectory + + trajectory
PD Dynamic
Actuator
controller system
- +

AFC
controller

Sensor
PD and AFC (cont…)
Disturbances
Q
Desired PD controller Actuator Dynamic system Actual
+
position + e + F + a 1 position
xd Gc(s) Ga(s) G(s) x
s2
- +
Force Measured
Accelerometer
sensor acceleration
Switch Ks a'
Estimated
M' mass

W(s) Measured force F' + -

Estimated disturbance Q'

H(s)

Position sensor

Overall control algorithm: [PD+AFC] = Kpe(s) + Kd s e(s) + Q’ W(s)


Ks = 0 PD; Ks = 1 AFC
AFC Applied to A Robot Arm
Td

.. .. .. + .. .
xbar x ref coordinate ref Ic It Tq +   
IN/Kt Kt 1/H 1/s 1/s
+ + transformation +
+ + +
Ia
+
Td* - INk+1
1/Kt INk
Kd

Kp d/dt (t)
+ +
+
TEk (t)

. .
xbar + - x coordinate
transformation

xbar + - x coordinate
transformation

AFC with RMAC and Iterative Learning Control Scheme


AFC Applied to A Robot Arm (cont…)
(x, y)

L2 link 2



L1

link 1


Dynamic model :
.. .
Tq = H()  + h(, ) + G() + Td
AFC Applied to A Robot Arm (cont…)

AFC: f = (1/Kt) Td* ..


Td* = Tq - IN 
.. .. . .
RMAC-PD: x ref  x bar  K p ( xbar  x )  K d ( x bar  x )

ILA: IN k 1 (t )  IN k (t )  TE k (t )  TE k (t )

Disturbances: h = 30 N, 100N, 1 rad/s; k = 300 N/m


Trajectory: Circular, r = 0.1 m
End-point velocity: Vcut = 0.2 m/s
AFC Applied to A Robot Arm (cont…)
Tq1 + thdd1
-
-
-
thdd2
Sum
Tq2 +
-
-
-
AFC Loop
Sum1
Iterative Robot Arm
Learning Model

th1, th2, thd1, thd2

t
Clock

Disturbance
Models
Trajectory RMAC-PD
Planner
Performance Evaluation
X Y Plot X Y Plot
0.5 0.01

0.4 0.008

0.3 0.006

Y Axis
Y Axis

0.2 0.004

0.1 0.002

0 0
0 0.1 0.2 0.3 0.4 0 5 10 15 20
X Axis X Axis
PD: h = 30 N, = 1 rad/s; k = 300 N/m
X Y Plot
X Y Plot
0.5 0.01

0.4 0.008

0.3 0.006

Y Axis
Y Axis

0.2 0.004

0.1 0.002

0 0
0 0.1 0.2 0.3 0.4 0 5 10 15 20
X Axis X Axis
AFC: h = 30 N,  = 1 rad/s; k = 300 N/m
Performance Evaluation (cont…)
X Y Plot X Y Plot
0.5 0.01

0.4 0.008

0.3 0.006

Y Axis
Y Axis

0.2 0.004

0.1 0.002

0 0
0 0.1 0.2 0.3 0.4 0 5 10 15 20
X Axis X Axis
PD: h = 100 N,  = 1 rad/s
X Y Plot X Y Plot
0.5 0.01

0.4 0.008

0.3 0.006

Y Axis
Y Axis

0.2 0.004

0.1 0.002

0 0
0 0.1 0.2 0.3 0.4 0 5 10 15 20
X Axis X Axis
AFC: h = 100 N,  = 1 rad/s
Performance Evaluation (cont…)
Other Applications of AFC

• Nonholonomic Wheeled Mobile Robot


• Mobile Manipulator
• Vehicle Suspension System
• Antilock Brake System
• Active Vibration Control
• Gantry Crane
• Motion Control
Nonholonomic Wheeled Mobile
Robot
Mobile Manipulator

Parallel cables
(8  16lines) 2 units
DAS1602
Mobile Manipulator system (inside)
PC Pentium III
(with ISA slot)
Manipulator system

Gripper

Mobile Platform castor MMH852.EXE


is executed here.
Front wheels
(nonholonomics)
Vehicle Suspension System

Disturbances Suspension
PC-based control
Test Rig
+ .. MATLAB/CST/
to
Zs des + + +
Suspension
Zs Zs Simulink/RTW pneumatic
actuator
PID Actuator (Ga) 1/s 1/s
system DAS1602
- + I/O card D/A
- Force Accelero-
sensor meter
NN2 Ga-1
+ - PID, PI, skyhook, AFC,
NN algorithms
NN1
Active Force Control
(AFC) Q' D/A
Estimated Mass
Programmable
from sensors
Logic
(LVDTs, pressure sensor
Skyhook Controller
& accelerometers)
(PLC)

Disturbances
Active Vibration Control
Pentium III PC

DC motor with driver


Mechanical
DAS-1602 Suspension
card System
Sensor (position sensor, current sensor and
accelerometer)
Gantry Crane
Current Research and
Future Directions
• Intelligent active vibration control of human-like arm
• Development of smart glove for active tremor control
• Active vibration suppression of machines / equipments
• Hybrid active vibration control of thin plates and
structures
• Robust control of satellite system
• Microsystems: micro-robotics, micro-machining, micro-
actuation, sensing & control
• Embedded AFC systems
Biomechanics Application

0.06

0.05

Track Error (m )
0.04
PD-AFC
0.03
PD
0.02

0.01

0
0 0.2 0.4 0.6 0.8 1 1.2
Time (s)
Conclusions
• AFC is very robust compared to PID control
• The algorithm is simple, not computationally
intensive and can be practically implemented in
real-time
• Simulation results are very promising
• Problems of selecting the appropriate actuators
(and drivers) and noises in sensors need to be
addressed and solved
• Micro and embedded AFC systems
Thank You
Q&A

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