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Article
Publication date: 4 December 2020

Fangli Mou and Dan Wu

In recent years, owing to the rapidly increasing labor costs, the demand for robots in daily services and industrial operations has been increased significantly. For further…

1267

Abstract

Purpose

In recent years, owing to the rapidly increasing labor costs, the demand for robots in daily services and industrial operations has been increased significantly. For further applications and human–robot interaction in an unstructured open environment, fast and accurate tracking and strong disturbance rejection ability are required. However, utilizing a conventional controller can make it difficult for the robot to meet these demands, and when a robot is required to perform at a high-speed and large range of motion, conventional controllers may not perform effectively or even lead to the instability.

Design/methodology/approach

The main idea is to develop the control law by combining the SMC feedback with the ADRC control architecture to improve the robustness and control quality of a conventional SMC controller. The problem is formulated and solved in the framework of ADRC. For better estimation and control performance, a generalized proportional integral observer (GPIO) technique is employed to estimate and compensate for unmodeled dynamics and other unknown time-varying disturbances. And benefiting from the usage of GPIO, a new SMC law can be designed by synthesizing the estimation and its history.

Findings

The employed methodology introduced a significant improvement in handling the uncertainties of the system parameters without compromising the nominal system control quality and intuitiveness of the conventional ADRC design. First, the proposed method combines the advantages of the ADRC and SMC method, which achieved the best tracking performance among these controllers. Second, the proposed controller is sufficiently robust to various disturbances and results in smaller tracking errors. Third, the proposed control method is insensitive to control parameters which indicates a good application potential.

Originality/value

High-performance robot tracking control is the basis for further robot applications in open environments and human–robot interfaces, which require high tracking accuracy and strong disturbance rejection. However, both the varied dynamics of the system and rapidly changing nonlinear coupling characteristic significantly increase the control difficulty. The proposed method gives a new replacement of PID controller in robot systems, which does not require an accurate dynamic system model, is insensitive to control parameters and can perform promisingly for response rapidity and steady-state accuracy, as well as in the presence of strong unknown disturbances.

Details

Journal of Intelligent Manufacturing and Special Equipment, vol. 1 no. 1
Type: Research Article
ISSN: 2633-6596

Keywords

Available. Content available
Article
Publication date: 6 April 2012

Daqing He

551

Abstract

Details

The Electronic Library, vol. 30 no. 2
Type: Research Article
ISSN: 0264-0473

Available. Content available
Book part
Publication date: 9 January 2012

Abstract

Details

Library and Information Science Trends and Research: Asia-Oceania
Type: Book
ISBN: 978-1-78052-470-2

Available. Open Access. Open Access

Abstract

Details

Journal of Intelligent Manufacturing and Special Equipment, vol. 4 no. 1
Type: Research Article
ISSN: 2633-6596

Available. Open Access. Open Access
Article
Publication date: 18 September 2024

Martin Kornberger, Clarissa Ruth Marie Schott, Dan-Richard Knudsen and Christian Andvik

This paper aims to point to the shift in the temporal orientation, going from reporting on the past to creating insights about the future, which might be suggestive of perennial…

535

Abstract

Purpose

This paper aims to point to the shift in the temporal orientation, going from reporting on the past to creating insights about the future, which might be suggestive of perennial managerial attempts to push the boundaries of bounded rationality.

Design/methodology/approach

In this essay, the authors want to critically engage with the concept of “data-driven management” in the context of digitalization. To do so, they sketch the edges of current discourses around the emerging idea of data-driven management and its relationship with the inner workings of organizations from an accounting perspective. They question the often-times supposed objectivity and increased rationality of the concept and instead introduce the idea of becoming “data-curious” (before being data-driven).

Findings

The authors observe that this push also seems to be accompanied by trends of individualized decision-making and prevailing hopes of technology to solve organizational problems. They therefore suggest that it is valuable for current debates to take a moment to give attention, in practice and in research, to the role of temporality, benefits of collective decision-making and changes in professions (of accountants).

Originality/value

The aim of this paper is to spark curiosity and engagement with the phenomenon of data-driven management by outlining a novel set of potential future pathways of research and point towards methods that might help studying the questions arising for a data-curious approach.

Details

Qualitative Research in Accounting & Management, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 1176-6093

Keywords

Available. Open Access. Open Access
Article
Publication date: 15 December 2021

Guangxing Ji, Zhizhu Lai, Dan Yan, Leying Wu and Zheng Wang

The purpose of this study is to assess the spatiotemporal patterns of future meteorological drought in the Yellow River Basin under different representative concentration pathway…

964

Abstract

Purpose

The purpose of this study is to assess the spatiotemporal patterns of future meteorological drought in the Yellow River Basin under different representative concentration pathway (RCP) scenarios.

Design/methodology/approach

Delta method is used to process the future climate data of the global climate models, then analyzed the spatiotemporal variation trend of drought in the Yellow River Basin based on standardized precipitation evaporation index (SPEI) under four RCP scenarios.

Findings

This research was funded by the National Natural Science Foundation of China (41901239), Soft Science Research Project of Henan Province (212400410077, 192400410085), the National Key Research and Development Program of China (2016YFA0602703), China Postdoctoral Science Foundation (2018M640670) and the special fund of top talents in Henan Agricultural University (30501031).

Originality/value

This study can provide support for future meteorological drought management and prevention in the Yellow River Basin and provide a theoretical basis for water resources management.

Details

International Journal of Climate Change Strategies and Management, vol. 14 no. 1
Type: Research Article
ISSN: 1756-8692

Keywords

Available. Content available
Book part
Publication date: 14 December 2023

Free Access. Free Access

Abstract

Details

Fashion and Tourism
Type: Book
ISBN: 978-1-80262-976-7

Available. Content available
Book part
Publication date: 7 December 2023

Zen Tong Chunhua Zheng and Yali Zou

Abstract

Details

The Significance of Chinatown Development to a Multicultural America: An Exploration of the Houston Chinatowns
Type: Book
ISBN: 978-1-80455-377-0

Available. Content available
Book part
Publication date: 30 July 2018

Abstract

Details

Marketing Management in Turkey
Type: Book
ISBN: 978-1-78714-558-0

Available. Content available
Book part
Publication date: 26 January 2022

Free Access. Free Access

Abstract

Details

Advances in Global Leadership
Type: Book
ISBN: 978-1-80071-838-8

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