scholarly journals The processing of saturation function in saturation control system

Author(s):  
Lijie Jia
Robotica ◽  
2013 ◽  
Vol 32 (1) ◽  
pp. 43-61 ◽  
Author(s):  
J. E. Gomez-Balderas ◽  
S. Salazar ◽  
J. A. Guerrero ◽  
R. Lozano

SUMMARYIn this paper, a vision-based scheme for the autonomous hovering of a miniature quad-rotor is developed. Cameras are used to estimate the position and the translational velocity of the vehicle. The dynamic model of the miniature quad-rotor is developed using the Newton–Euler approach. A nonlinear controller based on a separated saturation control strategy for a miniature quad-rotor is presented. To validate the theoretical results, an embedded control system for the miniature quad-rotor has been developed. Thus, the analytic results are supported by experimental tests. Experimental results have validated the proposed control strategy.


Author(s):  
Shuli Guo ◽  
Shaoze Yan ◽  
Lin Huang

In this paper, a new method for the control system with saturation inputs is given. By defining saturation function, the whole space is divided into 3m intervals and relationships among equilibrium points and intervals are established. The equilibrium points are discussed for the linear system under saturated inputs.


Author(s):  
Harry Septanto ◽  
Djoko Suprijanto

In the design of attitude control, rotational motion of the spacecraft is usually considered as a rotation of rigid body. Rotation matrix parameterization using quaternion can represent globally attitude of a rigid body rotational motions. However, the representation is not unique hence implies difficulties on the stability guarantee. This paper presents asymptotically stable analysis of a continuous scheme of quaternion-based control system that has saturation function. Simulations run show that the designed system applicable for a zero initial angular velocity case and a non-zero initial angular velocity case due to utilization of deadzone function as an element of the defined constraint in the stability analysis.


Author(s):  
W. J. Abramson ◽  
H. W. Estry ◽  
L. F. Allard

LaB6 emitters are becoming increasingly popular as direct replacements for tungsten filaments in the electron guns of modern electron-beam instruments. These emitters offer order of magnitude increases in beam brightness, and, with appropriate care in operation, a corresponding increase in source lifetime. They are, however, an order of magnitude more expensive, and may be easily damaged (by improper vacuum conditions and thermal shock) during saturation/desaturation operations. These operations typically require several minutes of an operator's attention, which becomes tedious and subject to error, particularly since the emitter must be cooled during sample exchanges to minimize damage from random vacuum excursions. We have designed a control system for LaBg emitters which relieves the operator of the necessity for manually controlling the emitter power, minimizes the danger of accidental improper operation, and makes the use of these emitters routine on multi-user instruments.Figure 1 is a block schematic of the main components of the control system, and Figure 2 shows the control box.


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