Dynamic Modeling and Control of a Novel One-Legged Hopping Robot

Robotica ◽  
2021 ◽  
pp. 1-19
Author(s):  
Amin Khakpour Komarsofla ◽  
Ehsan Azadi Yazdi ◽  
Mohammad Eghtesad
Keyword(s):  
Sliding Mode ◽  
Main Body ◽  
Lagrange Equations ◽  
Flat Foot ◽  
Modeling And Control ◽  
System A ◽  
Hopping Robot ◽  
Hopping Robots ◽  
The Stability ◽  
And Control

SUMMARY In this article, a novel mechanism for planar one-legged hopping robots is proposed. The robot consists of a flat foot which is pinned to the leg and a reciprocating mass which is connected to the leg via a prismatic joint. The proposed mechanism performs the hopping by transferring linear momentum between the reciprocating mass and its main body. The nonlinear equations of the motion of the robot are derived using the Euler–Lagrange equations. To accomplish a stable jump, appropriate trajectories have been planned. To guarantee a stable response for this nonlinear system, a sliding-mode controller is implemented. The performance of the hopping robot is investigated through numerical simulations. The results confirm the stability of the hopping robot through the jump cycle on a flat surface and in climbing up and down ramp and stairs.

scholarly journals MODELING AND SLIDING MODE CONTROL FOR A SINGLE FLEXIBLE MANIPULATOR

2019 ◽  
Vol 57 (5) ◽  
pp. 645
Author(s):  
Nguyen Quang Hoang ◽  
Ha Anh Son
Keyword(s):  
Jacobian Matrix ◽  
Sliding Mode ◽  
Mass Matrix ◽  
Flexible Manipulator ◽  
Sliding Mode Controller ◽  
The Finite Element Method ◽  
Modeling And Control ◽  
Lagrangian Equations ◽  
The Stability ◽  
And Control

This paper concerns with modeling and control of a single flexible manipulator (SFM). The finite element method (FEM) and Lagrangian equations are exploited to establish the dynamic modeling of SFM. Firstly, the Jacobian matrix is built based on kinematic analysis. Then it is used in construction of a mass matrix for each element. The position and vibration of SFM are controlled by sliding mode controller (SMC). Its parameters are chosen by linearized equations to guarantee the stability of the system. The numerical simulation is carried out to show the efficiency of the proposed approach.

Three-dimensional adaptive fixed-time guidance law against maneuvering targets with impact angle constraints and control input saturation

2021 ◽  
pp. 014233122110598
Author(s):  
Fei Ma ◽  
Yunjie Wu ◽  
Siqi Wang ◽  
Xiaofei Yang ◽  
Yueyang Hua
Keyword(s):  
Sliding Mode ◽  
Input Saturation ◽  
Three Dimensional ◽  
Fixed Time ◽  
Impact Angle ◽  
Guidance System ◽  
Control Input ◽  
Guidance Law ◽  
The Stability ◽  
And Control

This paper presents an adaptive fixed-time guidance law for the three-dimensional interception guidance problem with impact angle constraints and control input saturation against a maneuvering target. First, a coupled guidance model formulated by the relative motion equation is established. On this basis, a fixed-time disturbance observer is employed to estimate the lumped disturbances. With the help of this estimation technique, the adaptive fixed-time sliding mode guidance law is designed to accomplish accurate interception. The stability of the closed-loop guidance system is proven by the Lyapunov method. Simulation results of different scenarios are executed to validate the effectiveness and superiority of the proposed guidance law.

Dynamic Modeling and Control Techniques for a Quadrotor

2019 ◽  
pp. 20-66
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

scholarly journals Vibration Control of Blade Section Based on Sliding Mode PI Tracking Method and OPC Technology

2019 ◽  
Vol 2019 ◽  
pp. 1-12 ◽  
Author(s):  
Tingrui Liu
Keyword(s):  
Vibration Control ◽  
Sliding Mode ◽  
Engineering Application ◽  
Control Input ◽  
Pi Method ◽  
Opc Technology ◽  
Practical Engineering ◽  
Blade Section ◽  
The Stability ◽  
And Control

Vibration control of the blade section of a wind turbine is investigated based on the sliding mode proportional-integral (SM-PI) method, i.e., sliding mode control (SMC) based on a PI controller. The structure is modeled as a 2D pretwisted blade section integrated with calculation of structural damping, which is subjected to flap/lead-lag vibrations of instability. To facilitate the hardware implementation of the control algorithm, the SM-PI method is applied to realize tracking for limited displacements and velocities. The SM-PI algorithm is a novel SMC algorithm based on the nominal model. It combines the effectiveness of the sliding mode algorithm for disturbance control and the stability of PID control for practical engineering application. The SM-PI design and stability analysis are discussed, with superiority and robustness and convergency control demonstrated. An experimental platform based on human-computer interaction using OPC technology is implemented, with position tracking for displacement and control input signal illustrated. The platform verifies the feasibility and effectiveness of the SM-PI algorithm in solving practical engineering problems, with online tuning of PI parameters realized by applying OPC technology.

scholarly journals Model Reduction Methods for Complex Network Systems

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
X. Cheng ◽  
J.M.A. Scherpen
Keyword(s):  
Autonomous Systems ◽  
High Dimensional ◽  
Annual Review ◽  
Publication Date ◽  
Network Systems ◽  
Modeling And Control ◽  
Reduced Order ◽  
Reduction Methods ◽  
The Stability ◽  
And Control

Network systems consist of subsystems and their interconnections and provide a powerful framework for the analysis, modeling, and control of complex systems. However, subsystems may have high-dimensional dynamics and a large number of complex interconnections, and it is therefore relevant to study reduction methods for network systems. Here, we provide an overview of reduction methods for both the topological (interconnection) structure of a network and the dynamics of the nodes while preserving structural properties of the network. We first review topological complexity reduction methods based on graph clustering and aggregation, producing a reduced-order network model. Next, we consider reduction of the nodal dynamics using extensions of classical methods while preserving the stability and synchronization properties. Finally, we present a structure-preserving generalized balancing method for simultaneously simplifying the topological structure and the order of the nodal dynamics. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

A one linear actuator hopping robot: modeling and control

2003 ◽  
Vol 17 (8) ◽  
pp. 709-737 ◽  
Author(s):  
Son Kuswadi ◽  
Aki Ohnishi ◽  
Akiko Takahashi ◽  
Mitsuji Sampei ◽  
Shigeki Nakaura
Keyword(s):  
Linear Actuator ◽  
Modeling And Control ◽  
Hopping Robot ◽  
And Control ◽  
Robot Modeling

BIOMECHANICAL STABILITY ANALYSIS OF THE λ-MODEL CONTROLLING ONE JOINT

2007 ◽  
Vol 17 (03) ◽  
pp. 193-206 ◽  
Author(s):  
L. LAN ◽  
K. Y. ZHU
Keyword(s):  
Equilibrium Point ◽  
Motor System ◽  
Jacobian Matrix ◽  
System Modeling ◽  
Neuromuscular Disorders ◽  
Biomechanical Stability ◽  
Modeling And Control ◽  
Human Motor ◽  
The Stability ◽  
And Control

Computer modeling and control of the human motor system might be helpful for understanding the mechanism of human motor system and for the diagnosis and treatment of neuromuscular disorders. In this paper, a brief view of the equilibrium point hypothesis for human motor system modeling is given, and the λ-model derived from this hypothesis is studied. The stability of the λ-model based on equilibrium and Jacobian matrix is investigated. The results obtained in this paper suggest that the λ-model is stable and has a unique equilibrium point under certain conditions.

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