scholarly journals Robust Landing Control of a Quadcopter on a Slanted Surface

2021 ◽  
Author(s):  
Jiwook Choi ◽  
Donghun Cheon ◽  
Jangmyung Lee
Keyword(s):  
Cooperative Control ◽  
High Speed ◽  
Control Algorithm ◽  
Inclined Surfaces ◽  
Landing Platform ◽  
Outdoor Application ◽  
Proportional Integral Derivative Control ◽  
Inclined Surface ◽  
Landing Control ◽  
Derivative Control

AbstractA robust landing control algorithm is proposed for a quadcopter, as well as for a landing platform to land on an inclined or problematic surface. To use the quadcopter for outdoor application, it is necessary to design a landing platform that can withstand environmental obstacles such as wind and weight load during landing. Conventional retractor landing platforms are not suitable for achieving a stable landing on inclined surfaces or obstacles. Therefore, in this paper, 2-link structured landing legs are applied to stably land on an inclined surface or obstacle with a suitable control algorithm. To achieve stable landing on a slanted surface, a cooperative control algorithm of the quadcopter and the landing platform has been proposed. The proposed robust landing system comprises two controllers, i.e., a high-speed proportional derivative control for the landing platform and a neural network-based proportional–integral–derivative control for controlling the quadcopter in real time. A quadcopter with a robust landing platform has been implemented, and the performance of the robust landing control algorithm has been demonstrated with the system.

Precise variable spraying system based on improved genetic proportional-integral-derivative control algorithm

2021 ◽  
pp. 014233122110224
Author(s):  
Yanlei Xu ◽  
Xindong Wang ◽  
Yuting Zhai ◽  
ChenXiao Li ◽  
Zongmei Gao
Keyword(s):  
Weed Management ◽  
Control Algorithm ◽  
Field Tests ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Proportional Integral Derivative Control ◽  
Selection Operator ◽  
Adaptive Crossover ◽  
Processing Subsystem ◽  
Derivative Control

Currently, the most efficient method of resolving the pollution problem of weed management is by using variable spraying technology. In this study, an improved genetic proportional-integral-derivative control algorithm (IGA-PID) was developed for this technology. It used a trimmed mean operator to optimize the selection operator for an improved searching rate and accuracy. An adaptive crossover operator and mutation operator were constructed for a rapid convergence speed. The weed density detection was performed through an image acquisition and processing subsystem which was capable of determining the spraying quantity. The variable spraying control sub-system completed variable spraying operation. The performance of the system was evaluated by simulations and field tests, and compared with conventional methods. The simulation results indicated that the parameters of the overshoot (1.25%), steady-state error (1.21%) and the adjustment time (0.157s) of IGA-PID were the lowest when compared with the standard algorithms. Furthermore, the field validation results showed that the system with the proposed algorithm achieved the optimal performance with spraying quantity error being 2.59% and the respond time being 3.84s. Overall, the variable spraying system based on an IGA-PID meets the real-time and accuracy requirements for field applications which could be helpful for weed management in precise agriculture.

Study on the visual tracking control technology of six-crawler machine

2019 ◽  
Vol 233 (17) ◽  
pp. 6051-6075
Author(s):  
Shuai Wang ◽  
Haoran Ge ◽  
Ruoding Ma ◽  
Da Cui ◽  
Xinhui Liu ◽  
...  
Keyword(s):  
Control System ◽  
Visual Tracking ◽  
Tracking Control ◽  
Control Algorithm ◽  
Least Square ◽  
Control Parameters ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Proportional Integral Derivative Control ◽  
Derivative Control

In this paper, the autonomous navigation of six-crawler machine is studied, and a visual tracking control method based on machine vision for fuzzy proportional–integral–derivative control of six-crawler machine is proposed. The steering principle of the six-crawler machine and the matching relationship between the steering angle and the speed of each crawler are introduced, and the control system is described in detail. Besides, the mathematical model for the unsteady steering is introduced to analyze the influence of deflection angle on the steering trajectory of the six-crawler machine. The image processing algorithm is programmed by LabVIEW software. After the image is fitted by graying, binary, filtering, edge detection, and least square method, the navigation line-fitting curve is obtained. The fuzzy proportional–integral–derivative control algorithm is programmed in the control system to control the six-crawler machine to drive along the navigation line. In order to obtain reasonable control parameters, a virtual prototype model of a six-crawler machine is established. In the CoLink module, the control algorithm of a six-crawler machine is established, and the co-simulation is carried out. By analyzing the simulation results, the control parameters of the fuzzy proportional–integral–derivative controller of the six-crawler machine are established. In order to verify the control effect of the visual tracking control system of the six-crawler machine, a physical prototype of the six-crawler machine is constructed and tested. The results show that the visual tracking control system of the six-crawler machine can complete the preset functions.

Effects of eccentricity and vibration response on high-speed rigid rotor supported by hybrid foil-magnetic bearing

2015 ◽  
Vol 230 (6) ◽  
pp. 994-1006 ◽  
Author(s):  
Sena Jeong ◽  
Yong Bok Lee
Keyword(s):  
Load Distribution ◽  
High Speed ◽  
Control Algorithm ◽  
Initial Position ◽  
Magnetic Bearing ◽  
Active Magnetic Bearing ◽  
Control Force ◽  
Rigid Rotor ◽  
Reliability Parameters ◽  
Derivative Control

A hybrid foil-magnetic bearing (HFMB) consists of an air foil bearing (AFB) and an active magnetic bearing (AMB). The HFMB, inherently proposed as a backup bearing for an AMB, has many advantages, such as good controllability and the ability to exhibit preload sharing with the two types of bearings (i.e., the AFB and AMB) in high-speed turbomachinery. However, because the bearing has a limited clearance, the eccentric position of the rotor affects its stability and the reliability parameters of the AFBs such as the initial preload rub. In this study, a rigid rotor supported by an HFMB was operated at speeds of up to 18 kr/min and was tested using a proportional-derivative control algorithm, in order to reduce the vibration amplitude. In addition, to elucidate the effect of the initial eccentric position of the rotor, the control algorithm was started from the initial position of the rotor (X: from –100 to 100 µm and Y: from –80 to 200 µm) using a constant gain value. When the HFMB was active, the magnetic control force was remarkably effective in reducing the subsynchronous vibration of the rotor supported by the HFMB. Eccentricities of 0.2–0.5 corresponded to appropriate rotor positions for the hybrid bearing, and the corresponding load distribution of the AFB was found to be the optimal one. In addition, the proportional-derivative control gain was not very high. The performance of the bearing could be improved further by controlling the eccentricity. An HFMB was tested experimentally, and it was verified that it is possible to determine the effective load carrying capacity for a specific load distribution of the AFB.

scholarly journals Retraction: Kwon et al. Cooperative Control Algorithm for Friction and Regenerative Braking Systems Considering Temperature Characteristics. World Electr. Veh. J. 2015, 7, 287–298

2021 ◽  
Vol 12 (2) ◽  
pp. 68
Author(s):  
Keyword(s):  
Cooperative Control ◽  
Control Algorithm ◽  
Regenerative Braking ◽  
Temperature Characteristics

The journal retracts the article, ”Cooperative control algorithm for friction and regenerative braking systems considering temperature characteristics” [...]

Cooperative Control of Vehicle Swarms for Acoustic Target Localization by Energy Flows

2004 ◽  
Vol 126 (4) ◽  
pp. 891-895 ◽  
Author(s):  
J. L. Dohner and ◽  
G. R. Eisler ◽  
B. J. Driessen ◽  
J. Hurtado
Keyword(s):  
Cooperative Control ◽  
Control Algorithm ◽  
Open Space ◽  
Target Localization ◽  
Pressure Measurements ◽  
Energy Flows ◽  
Acoustic Target ◽  
Robotic Vehicles ◽  
Novel Algorithm

A control algorithm has been developed and experimentally validated for guiding swarms of robotic vehicles to acoustic targets. This novel algorithm uses pressure measurements from a set of sensors, each attached to a vehicle of the swarm, to deduce energy flows from the environment, and to move in the direction of maximum reflected intensity while controlling constraints between vehicles. The algorithm was validated using a collective of eight hand-placed microphones in an open-space area with a 50-m separation between an emitter and scatterer.

Modeling and Analysis of Grid-Connected Inverter for PV Generation

2013 ◽  
Vol 760-762 ◽  
pp. 451-456 ◽  
Author(s):  
Neng Cao ◽  
Ya Jun Cao ◽  
Jiao Yu Liu
Keyword(s):  
Control System ◽  
Power Quality ◽  
High Speed ◽  
Control Algorithm ◽  
Maximum Power ◽  
Maximum Power Point ◽  
Incremental Conductance ◽  
Conductance Method ◽  
Power Point ◽  
Pv Generation

In order to improve the efficiency of photovoltaic generation as well as the power quality, grid-connected inverters for PV generation research was carried out for photovoltaic maximum power point tracking. Based on some current studies on the incremental conductance method, an advanced incremental conductance control algorithm was proposed, which can track maximum power point rapidly and accurately. The oscillation phenomenon, which exists near the maximum power point, was improved at a great extent, so to the efficiency of photovoltaic cells generation electricity. The inverter control system has an advantage in its high speed and flexibility by applying advanced control algorithm. And the source harmonic current is remarkably reduced. In addition, the power factor is enhanced and the power quality is improved. Finally, according to the principle of inverter control system and based on the analysis on the mathematical model of photovoltaic inverter, a simulation model of that is established based on MATLAB/SIMULINK.

Increasing the mobility of a high-speed tracked vehicle based on a controlled skid algorithm

2020 ◽  
pp. 29-33
Author(s):  
S. V. Kondakov ◽  
O.O. Pavlovskaya ◽  
I.D. Ivanov ◽  
A.R. Ishbulatov
Keyword(s):  
Mathematical Model ◽  
Dynamic Stability ◽  
Simulation Modeling ◽  
Automatic System ◽  
High Speed ◽  
Control Algorithm ◽  
Loss Of Stability ◽  
Tracked Vehicle ◽  
Hydrostatic Transmission ◽  
The Mathematical Model

A method for controlling the curvilinear movement of a high-speed tracked vehicle in a skid without loss of stability is proposed. The mathematical model of the vehicle is refined. With the help of simulation modeling, a control algorithm is worked out when driving in a skid. The effectiveness of vehicle steering at high speed outside the skid is shown. Keywords: controlled skid, dynamic stability, steering pole displacement, hydrostatic transmission, automatic system, fuel supply. [email protected]

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