Adaptive control strategy-based reference model for spacecraft motion trajectory

2014 ◽  
Vol 29 (5) ◽  
pp. 639-652 ◽  
Author(s):  
Zarina Samigulina ◽  
Olga Shiryayeva ◽  
Galina Samigulina ◽  
Hassen Fourati
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Reference Model ◽  
Motion Trajectory ◽  
Spacecraft Motion ◽  
Adaptive Control Strategy

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

2021 ◽  
pp. 1-31
Author(s):  
S.H. Derrouaoui ◽  
Y. Bouzid ◽  
M. Guiatni
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Experimental Tests ◽  
Generic Model ◽  
System Control ◽  
System A ◽  
Viable Solution ◽  
Generic Modeling ◽  
Adaptive Control Strategy ◽  
The Stability

Abstract Recently, transformable Unmanned Aerial Vehicles (UAVs) have become a subject of great interest in the field of flying systems, due to their maneuverability, agility and morphological capacities. They can be used for specific missions and in more congested spaces. Moreover, this novel class of UAVs is considered as a viable solution for providing flying robots with specific and versatile functionalities. In this paper, we propose (i) a new design of a transformable quadrotor with (ii) generic modeling and (iii) adaptive control strategy. The proposed UAV is able to change its flight configuration by rotating its four arms independently around a central body, thanks to its adaptive geometry. To simplify and lighten the prototype, a simple mechanism with a light mechanical structure is proposed. Since the Center of Gravity (CoG) of the UAV moves according to the desired morphology of the system, a variation of the inertia and the allocation matrix occurs instantly. These dynamics parameters play an important role in the system control and its stability, representing a key difference compared with the classic quadrotor. Thus, a new generic model is developed, taking into account all these variations together with aerodynamic effects. To validate this model and ensure the stability of the designed UAV, an adaptive backstepping control strategy based on the change in the flight configuration is applied. MATLAB simulations are provided to evaluate and illustrate the performance and efficiency of the proposed controller. Finally, some experimental tests are presented.

Identification-Free Adaptive Separate Layer Water Injection Control Based on Expert Amendment

2010 ◽  
Vol 44-47 ◽  
pp. 1470-1475
Author(s):  
Feng Shan Wang ◽  
De Li Jia ◽  
Shu Jin Zhang ◽  
Chong Jiang Liu ◽  
De Kui Xu
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Water Injection ◽  
Strong Nonlinearity ◽  
Separate Layer ◽  
Injection Control ◽  
System Output ◽  
Adaptive Control Strategy ◽  
Injection Effect ◽  
Injection Technology

An identification-free adaptive control strategy based on expert amendment is proposed in this paper to solve the problem that it is difficult to establish mathematical model of water injection regulating process due to large time delay, strong nonlinearity and time variation in the flow control of separate layer water injection technology. In this control strategy, according to the past and current process information of water injection, the system output and trend can be estimated based on expert rules to amend the output of the identification-free adaptive control. The simulation result shows that this control strategy has perfect control performance and strong adaptability and it provides a feasible means for improving water injection effect.

Experimental and Analytical Decentralized Adaptive Control of a 7-DOF Robot Manipulator

2020 ◽  
Author(s):  
Alexander Bertino ◽  
Peiman Naseradinmousavi ◽  
Atul Kelkar
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Computational Efficiency ◽  
Tracking Control ◽  
Robot Manipulator ◽  
Problem Formulation ◽  
Experimental Results ◽  
Model Free ◽  
Trajectory Simulation ◽  
Adaptive Control Strategy

Abstract In this paper, we study the analytical and experimental control of a 7-DOF robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7-DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method.

An adaptive control strategy for indoor leader-following of wheeled mobile robot

2020 ◽  
Vol 357 (4) ◽  
pp. 2131-2148 ◽  
Author(s):  
Ying Zou ◽  
Changyun Wen ◽  
Mao Shan ◽  
Mingyang Guan
Keyword(s):  
Adaptive Control ◽  
Mobile Robot ◽  
Control Strategy ◽  
Wheeled Mobile Robot ◽  
Leader Following ◽  
Adaptive Control Strategy
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