scholarly journals State Switching of a Multistable Impacting System using PDLike Control

2018 ◽  
Vol 148 ◽  
pp. 10001
Author(s):  
Boying Liu ◽  
Wai-keung Fung ◽  
Yang Liu
Keyword(s):  
Direct Method ◽  
Numerical Results ◽  
Control Signal ◽  
Control Law ◽  
Intermittent Control ◽  
Lyapunov Direct Method ◽  
Practical Applications ◽  
State Switching ◽  
A Current

A new PD-like control law is proposed in this paper to control a multistable impacting system. This control law can switch the system from a current, undesired state to a desired one by using the differences of the displacement and velocity between the current and desired states. The control law can control the multistable system without affecting its original dynamics, and its stability is proved by using the Lyapunov direct method. Numerical results are compared with the results obtained by using the intermittent control studied in [1]. The proposed PD-like control shows a better performance in terms of the smoothness of its control signal, which is easier to be implemented in practical applications.

Nonsingular Serret–Frenet Based Path Following Control for an Underactuated Surface Vessel

2009 ◽  
Vol 131 (2) ◽  
Author(s):  
Jawhar Ghommam ◽  
Faïçal Mnif ◽  
Abederraouf Benali ◽  
Nabil Derbel
Keyword(s):  
Direct Method ◽  
Path Following ◽  
Ocean Current ◽  
Control Law ◽  
High Fidelity Simulation ◽  
Lyapunov Direct Method ◽  
Path Following Control ◽  
Definition Of ◽  
Along Track ◽  
Surface Vessel

In this paper we develop a new control law to steer an underactuated surface vessel along a predefined path at a constant forward speed controlled by the main thruster system. The methodology is based on the Serret–Frenet formulation to represent the ship kinematics in terms of path parameters, which allows for convenient definition of cross and along track error. Furthermore, our approach for path following overcomes the stringent initial condition constraints. This paper also addresses the path following with environmental disturbances induced by wave, wind, and ocean-current. The proposed controller is designed based on the Lyapunov direct method and backstepping technique. The closed loop path following errors is proven to be uniform ultimate bounded. Results are demonstrated by high fidelity simulation.

Using Control Chart to Detect Abnormal Changes in the Permeability

2013 ◽  
Vol 779-780 ◽  
pp. 319-322
Author(s):  
Ming Hung Shu ◽  
Jui Chan Huang ◽  
Thanh Lam Nguyen ◽  
Bi Min Hsu
Keyword(s):  
Water Vapour ◽  
Average Run Length ◽  
Stable Process ◽  
Critical Factor ◽  
Water Vapour Permeability ◽  
Control Signal ◽  
Process Mean ◽  
Vapour Permeability ◽  
Practical Applications ◽  
Printing Papers

Water-vapour permeability is a critical factor of writing/ printing papers in most of practical applications; but how to monitor the manufacturing process to keep the key characteristic of the paper in control is still understudied. Therefore, in this paper, in order to monitor the water-vapour permeability of writing/ printing papers, MaxGWMA chart is first suggested due to its best effectiveness in terms of average run length performance and its high capability of detecting small shifts in the process mean and variability as well as identifying the source and the direction of an out-of-control signal. By using MaxGWMA chart, assignable causes of any out-of-control signal should be deeply examined so as to have proper corrective actions undertaken to either eliminate them from the process or reduce the variability induced by them to make the papers consistently manufactured under a stable process.

Autonomous Control and Transportation of Underslung Load with Single and Dual Lift Helicopter Systems

2021 ◽  
Author(s):  
Kuldeep K Dhiman ◽  
Mangal Kothari ◽  
Dr. Abhishek
Keyword(s):  
Load Distribution ◽  
Compressive Load ◽  
Force Sensor ◽  
Outdoor Environment ◽  
Measurement Unit ◽  
Control Law ◽  
Autonomous Flight ◽  
Practical Applications ◽  
Load Swing ◽  
Load Transportation

Abstract This paper discusses the development of a single lift and dual-lift helicopter underslung load transportation system for practical applications. A control law is developed to damp the load swing and stabilize the oscillation while performing the transportation task. For the dual-lift system, the load transportation is achieved by using a load distribution controller, developed for this purpose, to maintain equal load distribution among the vehicles. The load damping and load distribution controllers require accurate measurement of load states, which is achieved through the design and development of innovative, simple, and lightweight sensors units namely, Load Tension Measurement Unit (LTMU) and Load Swing Measurement Unit (LSMU). LTMU sensor consists of a unique design that utilizes a flexi-force sensor, capable of measuring compressive load, for measurement of cable tension. The cable inclination in the longitudinal and lateral directions is measured by the LSMU sensor. These units are integrated with the helicopter autopilot for autonomous flight. The performance of the developed system is experimentally validated in the outdoor environment with single and dual-lift systems.

Characterization of power systems near their stability boundary by Lyapunov direct method

2014 ◽  
Vol 47 (3) ◽  
pp. 9087-9092 ◽  
Author(s):  
Igor B. Yadykin ◽  
Dmitry E. Kataev ◽  
Alexey B. Iskakov ◽  
Vladislav K. Shipilov
Keyword(s):  
Power Systems ◽  
Direct Method ◽  
Stability Boundary ◽  
Lyapunov Direct Method

scholarly journals Stability of Fractional Differential Equations with New Generalized Hattaf Fractional Derivative

2021 ◽  
Vol 2021 ◽  
pp. 1-7
Author(s):  
Khalid Hattaf
Keyword(s):  
Stability Analysis ◽  
Differential Equations ◽  
Fractional Derivative ◽  
Fractional Differential Equations ◽  
Fractional Derivatives ◽  
Direct Method ◽  
Lyapunov Direct Method ◽  
Science And Engineering ◽  
Fractional Differential ◽  
The Stability

This paper aims to study the stability of fractional differential equations involving the new generalized Hattaf fractional derivative which includes the most types of fractional derivatives with nonsingular kernels. The stability analysis is obtained by means of the Lyapunov direct method. First, some fundamental results and lemmas are established in order to achieve the goal of this study. Furthermore, the results related to exponential and Mittag–Leffler stability existing in recent studies are extended and generalized. Finally, illustrative examples are presented to show the applicability of our main results in some areas of science and engineering.

Decentralized Exergy/Entropy Thermodynamic Control for Collective Robotic Systems

2007 ◽  
Author(s):  
Rush D. Robinett ◽  
David G. Wilson
Keyword(s):  
Decentralized Control ◽  
Direct Method ◽  
Robotic Systems ◽  
Control Law ◽  
Thermodynamic Control ◽  
Order Accuracy ◽  
Control Laws ◽  
Vector Lyapunov Function ◽  
Collective Control ◽  
Plume Tracing

This paper develops a distributed decentralized control law for collective robotic systems. The control laws are developed based on exergy/entropy thermodynamic concepts and information theory. The source field is characterized through second-order accuracy. The proposed feedback control law stability for both the collective and individual robots are demonstrated by selecting a general Hamiltonian based solution developed as Fisher Information Equivalency as the vector Lyapunov function. Stability boundaries and system performance are then determined with Lyapunov’s direct method. A robot collective plume tracing numerical simulation example demonstrates this decentralized exergy/entropy collective control architecture.

Vehicle yaw-inertia- and mass-independent adaptive steering control

2009 ◽  
Vol 223 (9) ◽  
pp. 1101-1108 ◽  
Author(s):  
J Wang ◽  
M F Hsieh
Keyword(s):  
Adaptive Control ◽  
Tracking Error ◽  
Stability Control ◽  
Driving Safety ◽  
Control Law ◽  
Steering Control ◽  
Tracking Accuracy ◽  
Unknown Parameters ◽  
Practical Applications ◽  
Adaptive Control Law

This paper describes a vehicle stability control (VSC) system using a vehicle yaw-inertia- and mass-independent adaptive control law. As a primary vehicle active control system, VSC can significantly improve vehicle driving safety for passenger cars and enhance trajectory tracking accuracy for other applications such as autonomous, surveillance, and mobile robot vehicles. For the designs of vehicle dynamic control systems, vehicle yaw inertia and mass are two of the most important parameters. However, in practical applications, vehicle yaw inertia and mass often change with vehicle payload and load distribution. In this paper, an adaptive control law is proposed to treat the vehicle yaw inertia and mass as unknown parameters and automatically address their variations. For the proposed adaptive control law, asymptotic stability of the yaw rate tracking error was proved by a Lyapunov-like analysis for certain vehicle architectures under some reasonable assumptions. The performance of the yaw-inertia- and mass-independent adaptive VSC system was evaluated under several driving conditions (i.e. double lane changing on a slippery surface and braking on a split- μ surface tests) through simulation studies using a high-fidelity full-vehicle model provided by CarSim®.

scholarly journals Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators

2011 ◽  
Vol 2011 ◽  
pp. 1-10 ◽  
Author(s):  
Yassine Bouteraa ◽  
Jawhar Ghommam ◽  
Gérard Poisson ◽  
Nabil Derbel
Keyword(s):  
Decentralized Control ◽  
Information Exchange ◽  
Robot Manipulators ◽  
Direct Method ◽  
Functional Method ◽  
Consensus Algorithm ◽  
Adaptive Synchronization ◽  
Synchronization Control ◽  
Control Law ◽  
Parameter Uncertainties

This paper investigates the issue of designing decentralized control laws to cooperatively command a team of general fully actuated manipulators. The purpose is to synchronize their movements while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots' joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange between manipulators. So, it does not assume the existence of an explicit leader in the team. Based above all on combination of Lyapunov direct method and cross-coupling strategy, the proposed decentralized control law is extended to an adaptive synchronization control taking into account parameter uncertainties. To address the time delay problems in the network communication channels, the suggested synchronization control law robustly synchronizes robots to track a given trajectory. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem. A real-time software simulator is developed to visualize the robot manipulators coordination.

Multi-Inputs/Outputs and Cascadable MEMS Resonator-Based Computing Devices

2020 ◽  
Author(s):  
Sherif A. Tella ◽  
Mohammad I. Younis
Keyword(s):  
Logic Gates ◽  
Vibrational Modes ◽  
Computational Power ◽  
Input Output ◽  
Practical Applications ◽  
Mems Resonator ◽  
Half Adder ◽  
Increasing Demand ◽  
Logic Functions ◽  
A Current

Abstract Due to the increasing demand for smarter solutions and embedded systems, MEMS resonator-based computing devices have been under considerable attention for their simplicity and prospect of low computational power. However, most complex logic functions require multi-input/output lines that are cascadable such that the outputs of one device can be used as inputs into subsequent devices for practical applications, and this is a current limitation for MEMS logic devices. In this study, we demonstrate multi-inputs/outputs half-adder function, AND, and XOR logic gates on the basis of activating and deactivating the localization and delocalization of the multi vibrational modes of a single MEMS resonator with improved energy efficiency.

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