Finite time state and disturbance estimation for robust performance of motion control systems using sliding modes

In this paper, simultaneous state and disturbance estimation of a drive system composed of motor connected to a load is proposed. Such a system is represented by a two mass model realising in a fourth-order plant. Backlash is introduced as the nonlinear disturbance in gears which is proposed to be estimated and in turn compensated. For this motion control system, a two-stage higher order sliding-mode observer is proposed for state and backlash estimation. The novelty lies in the fact that for this fourth-order system, output is considered from the motor end only, i.e. its angular displacement. The unmeasured states consisting of output derivative, load-side angular displacement and its derivative along with backlash are estimated in finite time. This disturbance due to backlash is unmatched in nature. The estimated states and disturbance are used to devise a robust sliding-mode control. This proposed scheme is validated in simulation and experimentation.     

Multivariable control of a test bed for differential gears

Common problems related to the control of power train test beds are the coupling of the two typical controlled variables rotational speed and testing torque as well as resonant torque oscillations. This work presents a simplified non-linear mathematical model of a test bed for differential gears including the unit under test suitable for controller design. Based on this system model, a new control concept with input–output decoupling and feedback linearisation is developed to overcome both previously mentioned problems. Simulation studies using the proposed control structure as well as a conventional control concept for power train test beds show the superiority of the new controller.Finally the proposed controller was implemented on real-time processing hardware and tested on a commercial test bed for differential gears to prove the performance of the new control concept in practice.     

An iterative learning scheme for motion control of robots using neural networks: A case study

In this paper, an iterative learning controller using neural networks has been studied for the motion control of robotic manipulators. Simulations of a two-link robot have demonstrated that the proposed control scheme for robotic manipulators can greatly reduce tracking errors after a few trials. Our modification of the original back-propagation algorithm is employed in the neural network, resulting in a much faster learning rate. The results of simulation have also shown that the proposed iterative learning controller has a faster rate of convergence and better robustness.     

Bootstrap hypothesis testing for some common statistical problems: A critical evaluation of size and power properties

The construction of bootstrap hypothesis tests can differ from that of bootstrap confidence intervals because of the need to generate the bootstrap distribution of test statistics under a specific null hypothesis. Similarly, bootstrap power calculations rely on resampling being carried out under specific alternatives. We describe and develop null and alternative resampling schemes for common scenarios, constructing bootstrap tests for the correlation coefficient, variance, and regression/ANOVA models. Bootstrap power calculations for these scenarios are described. In some cases, null-resampling bootstrap tests are equivalent to tests based on appropriately constructed bootstrap confidence intervals. In other cases, particularly those for which simple percentile-method bootstrap intervals are in routine use such as the correlation coefficient, null-resampling tests differ from interval-based tests. We critically assess the performance of bootstrap tests, examining size and power properties of the tests numerically using both real and simulated data. Where they differ from tests based on bootstrap confidence intervals, null-resampling tests have reasonable size properties, outperforming tests based on bootstrapping without regard to the null hypothesis. The bootstrap tests also have reasonable power properties.