scholarly journals Design, Construction, and Control for an Underwater Vehicle Type Sepiida

Robotica ◽  
2020 ◽  
pp. 1-18
Author(s):  
M. Garcia ◽  
P. Castillo ◽  
E. Campos ◽  
R. Lozano
Keyword(s):  
Embedded System ◽  
Closed Loop ◽  
Underwater Vehicle ◽  
Mathematical Representation ◽  
Closed Loop System ◽  
Vehicle Type ◽  
Mathematical Equations ◽  
And Control ◽  
Design Construction

SUMMARY A novel underwater vehicle configuration with an operating principle as the Sepiida animal is presented and developed in this paper. The mathematical equations describing the movements of the vehicle are obtained using the Newton–Euler approach. An analysis of the dynamic model is done for control purposes. A prototype and its embedded system are developed for validating analytically and experimentally the proposed mathematical representation. A real-time characterization of one mass is done to relate the pitch angle with the radio of displacement of the mass. In addition, first validation of the closed-loop system is done using a linear controller.

Dynamic Modeling and Control of Packing Pressure in Injection Molding

1994 ◽  
Vol 116 (2) ◽  
pp. 244-249 ◽  
Author(s):  
J. Hu ◽  
J. H. Vogel
Keyword(s):  
Injection Molding ◽  
Closed Loop ◽  
Good Control ◽  
Pressure Control ◽  
Physical Parameters ◽  
Closed Loop System ◽  
Modeling And Control ◽  
Packing Pressure ◽  
And Control ◽  
Plastic Injection

A dynamic model of injection molding developed from physical considerations is used to select PID gains for pressure control during the packing phase of thermo-plastic injection molding. The relative importance of various aspects of the model and values for particular physical parameters were identified experimentally. The controller gains were chosen by pole-zero cancellation and root-locus methods, resulting in good control performance. Both open and closed-loop system responses were predicted and verified, with good overall agreement.

Design of Output Feedback Controller for Switched Fuzzy Systems with Time-Delay

2014 ◽  
Vol 635-637 ◽  
pp. 1443-1446
Author(s):  
Hong Yang ◽  
Huan Huan Lü ◽  
Le Zhang
Keyword(s):  
Time Delay ◽  
Output Feedback ◽  
Fuzzy Systems ◽  
Closed Loop ◽  
Feedback Controller ◽  
Linear Matrix ◽  
Sufficient Condition ◽  
Closed Loop System ◽  
Output Feedback Controller ◽  
And Control

This paper investigates the problems of stabilization and control for time-delay switched fuzzy systems using output feedback controller. Based on the linear matrix inequality (LMI) technique, multiple Lyapunov method is used to obtain a sufficient condition for the existence of the controller for the output feedback. Then an algorithm is constructed to transform the sufficient condition into a LMI form, thus obtaining a method for designing the controller. The designed controller guarantees the closed-loop system to be asympototically stable. A numerical example is given to show the effectiveness of our method.

Feedback Control of Linear Distributed Systems

1967 ◽  
Vol 89 (2) ◽  
pp. 379-383 ◽  
Author(s):  
Donald M. Wiberg
Keyword(s):  
Boundary Condition ◽  
Distributed Systems ◽  
Feedback Control ◽  
Closed Loop ◽  
The State ◽  
Loop System ◽  
Closed Loop System ◽  
Loop Equation ◽  
Control Feedback ◽  
And Control

The optimum feedback control of controllable linear distributed stationary systems is discussed. A linear closed-loop system is assured by restricting the criterion to be the integral of quadratics in the state and control. Feedback is obtained by expansion of the linear closed-loop equation in terms of uncoupled modes. By incorporating symbolic functions into the formulation, one can treat boundary condition control and point observable systems that are null-delta controllable.

Multi-Objective Robust Decentralized Control for the Interconnected Fuzzy Singularly Perturbed Models

2012 ◽  
Vol 182-183 ◽  
pp. 1200-1205
Author(s):  
Ye Nan Hu ◽  
Fu Chun Sun
Keyword(s):  
Decentralized Control ◽  
Closed Loop ◽  
Control Method ◽  
Dynamic Performance ◽  
Singularly Perturbed ◽  
Disturbance Attenuation ◽  
Closed Loop System ◽  
Multi Objective ◽  
Robust Decentralized Control ◽  
And Control

A multi-objective robust decentralized control method is proposed for the interconnected fuzzy singularly perturbed models. Such decentralized controller can guarantee the whole closed-loop system is asymptotically stable even when the multi-time-scale subsystems are interactional. Besides, the disturbance attenuation performance, dynamic performance and control amplitude can be optimized synthetically. The simulations illustrate the effectiveness of the proposed method.

Modeling and Control of an Automotive All-Wheel Drive Clutch as a Piecewise Affine System

2013 ◽  
Vol 136 (1) ◽  
Author(s):  
Shiming Duan ◽  
Jun Ni ◽  
A. Galip Ulsoy
Keyword(s):  
Closed Loop ◽  
Open Loop ◽  
Lyapunov Theory ◽  
Loop System ◽  
Linear Matrix ◽  
Closed Loop System ◽  
Modeling And Control ◽  
Piecewise Affine ◽  
Wheel Drive ◽  
And Control

Piecewise affine (PWA) systems belong to a subclass of switched systems and provide good flexibility and traceability for modeling a variety of nonlinear systems. In this paper, application of the PWA system framework to the modeling and control of an automotive all-wheel drive (AWD) clutch system is presented. The open-loop system is first modeled as a PWA system, followed by the design of a piecewise linear (i.e., switched) feedback controller. The stability of the closed-loop system, including model uncertainty and time delays, is examined using linear matrix inequalities based on Lyapunov theory. Finally, the responses of the closed-loop system under step and sine reference signals and temperature disturbance signals are simulated to illustrate the effectiveness of the design.

scholarly journals Operation of the auditory feedback monitoring loop in children with articulatory defects

1971 ◽  
Vol 18 (1) ◽  
Author(s):  
Sandra Ossip
Keyword(s):  
Control System ◽  
Motor Activity ◽  
Auditory Feedback ◽  
Closed Loop ◽  
Strong Relationship ◽  
Preliminary Evaluation ◽  
Closed Loop System ◽  
Feedback Monitoring ◽  
And Control ◽  
Normal Speech

This study constitutes a preliminary evaluation of the utilization of auditory feedback for the acquisition of normal speech in normal speaking children and children having functional articulatory errors. The degree to which this is utilized for the organization and control of motor activity was inferred by delaying auditory feedback in time and quantitating the resulting disturbances in the speech behaviour. Evidence was found to support the following hypotheses: I. There is a breakdown of speech under DAF. 2: Children with multiple articulatory disorders exhibit less severe breakdown effects under DAF than their normal peers. 3. There appears to be a strong relationship between increasing age and articulatory ability. 4. There tends to be a relationship between increasing age and the breakdown of speech under DAF. 5. Monitoring of speech is a highly skilled control system which tends to develop with age and experience, and is not operating as strongly in the child with articulation-defects. From the results of the study, it seems that the auditory feedback monitoring loop for speech is not operating as successfully in the child with multiple articulatory errors as it operates in the normal child, and that the development of a closed loop system appears to be retarded in some way.

Combustion Variability Model for Control of Injection Timing for Diesel Exhaust Heating

2018 ◽  
Author(s):  
Mitchell Bieniek ◽  
Anna Stefanopoulou ◽  
John Hoard ◽  
Brien Fulton ◽  
Michiel Van Nieuwstadt
Keyword(s):  
Closed Loop ◽  
Diesel Emissions ◽  
Injection Timing ◽  
Operational Temperature ◽  
Engine Emission ◽  
And Control ◽  
Variability Model ◽  
Diesel Engine Emission ◽  
Control Injection

Diesel engine emission cycle data shows that major portions of cycle emissions are produced at the beginning of the test, when the aftertreatment is not at operational temperature (prior to “light-off”) [1]. To reduce diesel emissions, aggressive combustion phasing retard via injection timing can be used to achieve faster aftertreatment light-off, but this method is limited because of vibration and harshness concerns associated with the combustion variability induced by the late combustion phasing. In order to achieve aggressive exhaust heating while mitigating combustion variability concerns, the premise of controlling combustion variability is explored. In particular, a controller will use real-time measurements of combustion features and control injection timing to maintain an acceptable level of combustion variability. The closed loop controller tuning requires an understanding of combustion variability behavior as a function of combustion phasing retard. The characterization of combustion variability using engine experiments is presented, and the findings are used to develop a control-oriented combustion variability model consisting of regressions of the statistics of IMEP as a function of fuel and timing offsets.

Simulation of Wheel Slide Protection System for Railway Vehicles

2013 ◽  
Vol 765-767 ◽  
pp. 374-377
Author(s):  
Zong Ming Wang ◽  
Jian Yong Zuo
Keyword(s):  
Simulation Model ◽  
Mechanical Model ◽  
Closed Loop ◽  
Control Model ◽  
Protection System ◽  
System Model ◽  
Closed Loop System ◽  
Laboratory Bench ◽  
And Control ◽  
Real Vehicle

Computer simulation was used to study WSP (Wheel Slide Protection) system in this paper. The model of WSP system was built. Simulation model can avoid real vehicle tests or laboratory bench which will cost a lot of time and expenses. The WSP system model was composed of pneumatic model, mechanical model and control model. Three models were connected with each other and formed a closed loop system. The result shows that the simulation model has most characteristics of WSP system. The model can be used in the study of WSP system instead of the real system.

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