Nonlinear Control for the Dual Smart Drive Using Backstepping and a Time-Optimal Reference

Nonlinear Control for the Dual Smart Drive Using Backstepping and a Time-Optimal Reference

The Dual Smart Drive is a specially designed nonlinear actuator intended for use in climbing and walking legged robots. It features a continuously changing transmission ratio and dual properties and is very suitable for situations where the same drive is required to perform two different types of st...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:Autonomous robots 2005-12, Vol.19 (3), p.233-255
Hauptverfasser: Fernández, Roemi, Hespanha, João, Akinfiev, Teodor, Armada, Manuel
Format: Artikel
Sprache:eng
Schlagworte:
Actuators
Control methods
Nonlinear control
Optimal control
Robots
Studies
Time optimal control
Walking
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 255
container_issue 3
container_start_page 233
container_title Autonomous robots
container_volume 19
creator Fernández, Roemi
Hespanha, João
Akinfiev, Teodor
Armada, Manuel
description The Dual Smart Drive is a specially designed nonlinear actuator intended for use in climbing and walking legged robots. It features a continuously changing transmission ratio and dual properties and is very suitable for situations where the same drive is required to perform two different types of start-stop motions of a mobile link. Then, the associated control problem to this nonlinear actuator is established and a backstepping design strategy adopted to develop Lyapunov-based nonlinear controllers that ensure asymptotic tracking of the desired laws of motion, which have been properly selected using time-optimal control. The approach is extended for bounded control inputs. Both simulation and experimental results are presented to show the effectiveness and feasibility of the proposed nonlinear control methods for the Dual Smart Drive.
doi_str_mv 10.1007/s10514-005-4044-0
format Article
fullrecord <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_proquest_miscellaneous_743331288</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>743331288</sourcerecordid><originalsourceid>FETCH-LOGICAL-c299t-a0a3453492a9ee84dd5bf6891bad5026cf0694312cc7ca44a41abf254527ff773</originalsourceid><addsrcrecordid>eNpdkE1PAyEQhonRxFr9Ad6IF0-rwwJlOWrrV9LYRNuLF0JZ0K1bWGHXxH8vTT15mpnkmcm8D0LnBK4IgLhOBDhhBQAvGLDcHKAR4YIWgpfiEI1AlrLgXNJjdJLSBgCkABiht-fg28ZbHfE0-D6GFrsQcf9h8WzQLX7d6tjjWWy-LV6lxr_jW20-U2-7bjdoX2ONl83WFouub7Z548U6G6039hQdOd0me_ZXx2h1f7ecPhbzxcPT9GZemFLKvtCgKeOUyVJLaytW13ztJpUka11zKCfGwUQySkpjhNGMaUb02pWc5WDOCUHH6HJ_t4vha7CpV9smGdu22tswJCUYpXm9qjJ58Y_chCH6_JyqhGSskkAyRPaQiSGlaJ3qYg4WfxQBtXOt9q5Vdq12rhXQXyK2cKs</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>879448901</pqid></control><display><type>article</type><title>Nonlinear Control for the Dual Smart Drive Using Backstepping and a Time-Optimal Reference</title><source>SpringerLink Journals - AutoHoldings</source><creator>Fernández, Roemi ; Hespanha, João ; Akinfiev, Teodor ; Armada, Manuel</creator><creatorcontrib>Fernández, Roemi ; Hespanha, João ; Akinfiev, Teodor ; Armada, Manuel</creatorcontrib><description>The Dual Smart Drive is a specially designed nonlinear actuator intended for use in climbing and walking legged robots. It features a continuously changing transmission ratio and dual properties and is very suitable for situations where the same drive is required to perform two different types of start-stop motions of a mobile link. Then, the associated control problem to this nonlinear actuator is established and a backstepping design strategy adopted to develop Lyapunov-based nonlinear controllers that ensure asymptotic tracking of the desired laws of motion, which have been properly selected using time-optimal control. The approach is extended for bounded control inputs. Both simulation and experimental results are presented to show the effectiveness and feasibility of the proposed nonlinear control methods for the Dual Smart Drive.</description><identifier>ISSN: 0929-5593</identifier><identifier>EISSN: 1573-7527</identifier><identifier>DOI: 10.1007/s10514-005-4044-0</identifier><language>eng</language><publisher>Dordrecht: Springer Nature B.V</publisher><subject>Actuators ; Control methods ; Nonlinear control ; Optimal control ; Robots ; Studies ; Time optimal control ; Walking</subject><ispartof>Autonomous robots, 2005-12, Vol.19 (3), p.233-255</ispartof><rights>Autonomous Robots is a copyright of Springer, (2005). All Rights Reserved.</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><cites>FETCH-LOGICAL-c299t-a0a3453492a9ee84dd5bf6891bad5026cf0694312cc7ca44a41abf254527ff773</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,780,784,27923,27924</link.rule.ids></links><search><creatorcontrib>Fernández, Roemi</creatorcontrib><creatorcontrib>Hespanha, João</creatorcontrib><creatorcontrib>Akinfiev, Teodor</creatorcontrib><creatorcontrib>Armada, Manuel</creatorcontrib><title>Nonlinear Control for the Dual Smart Drive Using Backstepping and a Time-Optimal Reference</title><title>Autonomous robots</title><description>The Dual Smart Drive is a specially designed nonlinear actuator intended for use in climbing and walking legged robots. It features a continuously changing transmission ratio and dual properties and is very suitable for situations where the same drive is required to perform two different types of start-stop motions of a mobile link. Then, the associated control problem to this nonlinear actuator is established and a backstepping design strategy adopted to develop Lyapunov-based nonlinear controllers that ensure asymptotic tracking of the desired laws of motion, which have been properly selected using time-optimal control. The approach is extended for bounded control inputs. Both simulation and experimental results are presented to show the effectiveness and feasibility of the proposed nonlinear control methods for the Dual Smart Drive.</description><subject>Actuators</subject><subject>Control methods</subject><subject>Nonlinear control</subject><subject>Optimal control</subject><subject>Robots</subject><subject>Studies</subject><subject>Time optimal control</subject><subject>Walking</subject><issn>0929-5593</issn><issn>1573-7527</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2005</creationdate><recordtype>article</recordtype><sourceid>AFKRA</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><recordid>eNpdkE1PAyEQhonRxFr9Ad6IF0-rwwJlOWrrV9LYRNuLF0JZ0K1bWGHXxH8vTT15mpnkmcm8D0LnBK4IgLhOBDhhBQAvGLDcHKAR4YIWgpfiEI1AlrLgXNJjdJLSBgCkABiht-fg28ZbHfE0-D6GFrsQcf9h8WzQLX7d6tjjWWy-LV6lxr_jW20-U2-7bjdoX2ONl83WFouub7Z548U6G6039hQdOd0me_ZXx2h1f7ecPhbzxcPT9GZemFLKvtCgKeOUyVJLaytW13ztJpUka11zKCfGwUQySkpjhNGMaUb02pWc5WDOCUHH6HJ_t4vha7CpV9smGdu22tswJCUYpXm9qjJ58Y_chCH6_JyqhGSskkAyRPaQiSGlaJ3qYg4WfxQBtXOt9q5Vdq12rhXQXyK2cKs</recordid><startdate>20051201</startdate><enddate>20051201</enddate><creator>Fernández, Roemi</creator><creator>Hespanha, João</creator><creator>Akinfiev, Teodor</creator><creator>Armada, Manuel</creator><general>Springer Nature B.V</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>F28</scope><scope>FR3</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>L6V</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>S0W</scope></search><sort><creationdate>20051201</creationdate><title>Nonlinear Control for the Dual Smart Drive Using Backstepping and a Time-Optimal Reference</title><author>Fernández, Roemi ; Hespanha, João ; Akinfiev, Teodor ; Armada, Manuel</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c299t-a0a3453492a9ee84dd5bf6891bad5026cf0694312cc7ca44a41abf254527ff773</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2005</creationdate><topic>Actuators</topic><topic>Control methods</topic><topic>Nonlinear control</topic><topic>Optimal control</topic><topic>Robots</topic><topic>Studies</topic><topic>Time optimal control</topic><topic>Walking</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Fernández, Roemi</creatorcontrib><creatorcontrib>Hespanha, João</creatorcontrib><creatorcontrib>Akinfiev, Teodor</creatorcontrib><creatorcontrib>Armada, Manuel</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics &amp; Communications Abstracts</collection><collection>Mechanical &amp; Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science &amp; Engineering Collection</collection><collection>ProQuest Central UK/Ireland</collection><collection>Advanced Technologies &amp; Aerospace Collection</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>ANTE: Abstracts in New Technology &amp; Engineering</collection><collection>Engineering Research Database</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Computer Science Collection</collection><collection>ProQuest Engineering Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts – Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Engineering Database</collection><collection>Advanced Technologies &amp; Aerospace Database</collection><collection>ProQuest Advanced Technologies &amp; Aerospace Collection</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering Collection</collection><collection>DELNET Engineering &amp; Technology Collection</collection><jtitle>Autonomous robots</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Fernández, Roemi</au><au>Hespanha, João</au><au>Akinfiev, Teodor</au><au>Armada, Manuel</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Nonlinear Control for the Dual Smart Drive Using Backstepping and a Time-Optimal Reference</atitle><jtitle>Autonomous robots</jtitle><date>2005-12-01</date><risdate>2005</risdate><volume>19</volume><issue>3</issue><spage>233</spage><epage>255</epage><pages>233-255</pages><issn>0929-5593</issn><eissn>1573-7527</eissn><abstract>The Dual Smart Drive is a specially designed nonlinear actuator intended for use in climbing and walking legged robots. It features a continuously changing transmission ratio and dual properties and is very suitable for situations where the same drive is required to perform two different types of start-stop motions of a mobile link. Then, the associated control problem to this nonlinear actuator is established and a backstepping design strategy adopted to develop Lyapunov-based nonlinear controllers that ensure asymptotic tracking of the desired laws of motion, which have been properly selected using time-optimal control. The approach is extended for bounded control inputs. Both simulation and experimental results are presented to show the effectiveness and feasibility of the proposed nonlinear control methods for the Dual Smart Drive.</abstract><cop>Dordrecht</cop><pub>Springer Nature B.V</pub><doi>10.1007/s10514-005-4044-0</doi><tpages>23</tpages><oa>free_for_read</oa></addata></record>
fulltext fulltext
identifier ISSN: 0929-5593
ispartof Autonomous robots, 2005-12, Vol.19 (3), p.233-255
issn 0929-5593
1573-7527
language eng
recordid cdi_proquest_miscellaneous_743331288
source SpringerLink Journals - AutoHoldings
subjects Actuators
Control methods
Nonlinear control
Optimal control
Robots
Studies
Time optimal control
Walking
title Nonlinear Control for the Dual Smart Drive Using Backstepping and a Time-Optimal Reference
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-08T07%3A02%3A52IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Nonlinear%20Control%20for%20the%20Dual%20Smart%20Drive%20Using%20Backstepping%20and%20a%20Time-Optimal%20Reference&rft.jtitle=Autonomous%20robots&rft.au=Fern%C3%A1ndez,%20Roemi&rft.date=2005-12-01&rft.volume=19&rft.issue=3&rft.spage=233&rft.epage=255&rft.pages=233-255&rft.issn=0929-5593&rft.eissn=1573-7527&rft_id=info:doi/10.1007/s10514-005-4044-0&rft_dat=%3Cproquest_cross%3E743331288%3C/proquest_cross%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=879448901&rft_id=info:pmid/&rfr_iscdi=true