Constraint-following control for follow-up support systems under model deviation and time delay

IF 6.5 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions Pub Date : 2025-06-19 DOI:10.1016/j.isatra.2025.06.015

Fangfang Dong , Zhao Liu , Xiaomin Zhao , Jiang Han , Xiaoyong Huang

{"title":"Constraint-following control for follow-up support systems under model deviation and time delay","authors":"Fangfang Dong , Zhao Liu , Xiaomin Zhao , Jiang Han , Xiaoyong Huang","doi":"10.1016/j.isatra.2025.06.015","DOIUrl":null,"url":null,"abstract":"<div><div>Follow-up support technology can flexibly and effectively suppress machining chatter in thin-walled components. This paper proposes a servo collaborative constraint handling scheme that focuses on achieving coordinated control for the follow-up support system<span> under multi-source coupled constraints and uncertainties. Firstly, a four-point constraint method is introduced, which simplifies the description of pose coordination through the introduction of auxiliary<span> points, and constructs the coordinated relationship of the dual robots’ end-effectors under complex geometric constraints in an intuitive and analytical manner. Secondly, a robust controller based on constraint-following theory is designed, providing an effective means to parameterize the total uncertainty boundary structure caused by model deviation and time delay. Finally, the practical stability of the control algorithm is proven, and its effectiveness and strong robustness are validated through comparative simulations.</span></span></div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"165 ","pages":"Pages 232-240"},"PeriodicalIF":6.5000,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"ISA transactions","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0019057825003131","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

Abstract

Follow-up support technology can flexibly and effectively suppress machining chatter in thin-walled components. This paper proposes a servo collaborative constraint handling scheme that focuses on achieving coordinated control for the follow-up support system under multi-source coupled constraints and uncertainties. Firstly, a four-point constraint method is introduced, which simplifies the description of pose coordination through the introduction of auxiliary points, and constructs the coordinated relationship of the dual robots’ end-effectors under complex geometric constraints in an intuitive and analytical manner. Secondly, a robust controller based on constraint-following theory is designed, providing an effective means to parameterize the total uncertainty boundary structure caused by model deviation and time delay. Finally, the practical stability of the control algorithm is proven, and its effectiveness and strong robustness are validated through comparative simulations.

查看原文本刊更多论文

模型偏差和时滞下跟踪支持系统的约束跟踪控制。

后续支撑技术可以灵活有效地抑制薄壁零件的加工颤振。提出了一种伺服协同约束处理方案，重点研究在多源耦合约束和不确定性条件下，实现后续支撑系统的协调控制。首先，引入四点约束方法，通过引入辅助点简化位姿协调的描述，以直观分析的方式构建复杂几何约束下双机器人末端执行器的协调关系；其次，设计了基于约束跟随理论的鲁棒控制器，为模型偏差和时滞引起的总不确定性边界结构参数化提供了有效手段；最后，验证了控制算法的实际稳定性，并通过对比仿真验证了控制算法的有效性和较强的鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

ISA transactions 工程技术-工程：综合

CiteScore

11.70

自引率

12.30%

发文量

824

审稿时长

4.4 months

期刊介绍： ISA Transactions serves as a platform for showcasing advancements in measurement and automation, catering to both industrial practitioners and applied researchers. It covers a wide array of topics within measurement, including sensors, signal processing, data analysis, and fault detection, supported by techniques such as artificial intelligence and communication systems. Automation topics encompass control strategies, modelling, system reliability, and maintenance, alongside optimization and human-machine interaction. The journal targets research and development professionals in control systems, process instrumentation, and automation from academia and industry.