Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators

In the presence of uncertain constraint and robot model, an adaptive controller with robust motion/force tracking performance for constrained robot manipulators is proposed. First, robust motion and force tracking is considered, where a performance criterion containing disturbance and estimated parameter attenuations is presented. Then the proposed controller utilizes an adaptive scheme and an auxiliary control law to deal with the uncertain environmental constraint, disturbances, and robotic modeling uncertainties. After solving a simple linear matrix inequality for gain conditions, the effect from disturbance and estimated parameter errors to motion/force errors is attenuated to an arbitrary prescribed level. Moreover, if the disturbance and estimated parameter errors are square-integrable, then an asymptotic motion tracking is achieved while the force error is as small as the inversion of control gain. Finally, numerical simulation results for a constrained planar robot illustrate the expected performance.     

Finite element formulations and theoretical study for variable curvature friction pendulum system

The friction pendulum system (FPS), a type of base isolation technology, has been recognized as a very efficient tool for controlling the seismic response of a structure during an earthquake. However, previous studies have focused mainly on the seismic behavior of base-isolated structures far from active earthquake faults. In recent years, there have been significant studies on the efficiency of the base isolator when subjected to near-fault ground motions. It is suggested from these studies that the long-duration pulse of near-fault ground motions results in significant response of a base-isolated structure. In view of this, an advanced base isolator called the variable curvature friction pendulum system (VCFPS) is proposed in this study. The radius of the curvature of VCFPS is lengthened with an increase of the isolator displacement. Therefore, the fundamental period of the base-isolated structure can be shifted further away from the predominant period of near-fault ground motions. Finite element formulations for VCFPS have also been proposed in this study. The numerical results show that the base shear force and story drift of the superstructure during near-fault ground motion can be controlled within a desirable range with the installation of VCFPS. Therefore, the VCFPS can be adopted for upgrading the seismic resistance of the structures adjacent to an active fault.