A global asymptotical stable control scheme for a Hexverter in fractional frequency transmission systems

A simplified dynamic model of the quadrotor is established. A multi-channel control scheme based on PID and dynamic inversion is proposed. Four channels are designed to achieve the position tracking and attitude stabilization of the quadrotor. A simulation shows the validity and good features of the control strategy.

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Delayed Bilateral Teleoperation of the Speed and Turn Angle of a Bipedal Robot

Robotica ◽

10.1017/s0263574720000636 ◽

2020 ◽

pp. 1-19

Author(s):

Viviana Moya ◽

Emanuel Slawiñski ◽

Vicente Mut

Keyword(s):

Force Feedback ◽

Shared Control ◽

Human Operator ◽

Bilateral Teleoperation ◽

Bipedal Robot ◽

Turn Angle ◽

Control Scheme ◽

Varying Time Delay ◽

Delay Dependent ◽

Stable Control

SUMMARY This paper proposes a shared control scheme which aims to achieve a stable control of the speed and turn of a bipedal robot during a delayed bilateral teleoperation. The strategy allows to get a delay-dependent damping value that must be injected to assure a bounded response of the hybrid system, while simultaneously, the human operator receives a force feedback that help him to decrease the synchronism error. Furthermore, a test where a human operator handles the walking of a simulated bipedal robot, to follow a curve path in front of varying time delay, is performed and analyzed.

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An Asymptotically Stable Control Scheme for Space Robot System

Arabian Journal for Science and Engineering ◽

10.1007/s13369-018-3295-y ◽

2018 ◽

Vol 43 (12) ◽

pp. 8049-8055

Author(s):

Naveen Kumar

Keyword(s):

Space Robot ◽

Asymptotically Stable ◽

Robot System ◽

Control Scheme ◽

Stable Control

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Dynamic analysis and stabilizing control of three-axis spherical gimbal

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/0959651819874559 ◽

2019 ◽

Vol 234 (5) ◽

pp. 609-621

Author(s):

Wu-Sung Yao ◽

Po-Wen Hsueh ◽

Hsien-Tang Yeh

Keyword(s):

Control System ◽

Unmanned Aerial Vehicle ◽

Controller Design ◽

Iterative Learning ◽

Stabilizing Control ◽

Mathematic Modeling ◽

Control Scheme ◽

Aerial Vehicle ◽

Stable Control ◽

Experimental Disturbance

Nowadays, stabilized gimbals have been popular products on the present market for unmanned aerial vehicle. Rejecting multi-periodic vibration disturbance is a key point for accuracy motion of the gimbal under the flight operation of unmanned aerial vehicle. In this study, a stable control scheme of a three-axis spherical gimbal is proposed, where a new method for synthesizing multi-iterative learning control algorithm is exported. To design the controller, the mathematic modeling of the three-axis control system is earned and determined by spectrum analysis of the proposed gimbal. Performance and stability of the control system are analyzed and are evaluated in an experimental disturbance rejecting control system. Both computer simulation and experimental results are presented to illustrate the effectiveness of the proposed iterative learning controller design.

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