Intelligent Tracking Control for Linear Ultrasonic Motor Using H>sup<∞>/sup<Control Technique

2006 ◽  
Author(s):  
Ya-Fu Peng ◽  
Chun-Fei Hsu ◽  
Chih-Min Lin ◽  
Ming-Hung Lin
Keyword(s):  
Tracking Control ◽  
Ultrasonic Motor ◽  
Control Technique ◽  
Linear Ultrasonic Motor ◽  
Intelligent Tracking

scholarly journals A novel linear ultrasonic motor with dual sliders

AIP Advances ◽  
2021 ◽  
Vol 11 (2) ◽  
pp. 025238
Author(s):  
Danhong Lu ◽  
Qiuxiang Lin ◽  
Yanxiang Han ◽  
Bingxun Chen ◽  
Chunrong Jiang ◽  
...  
Keyword(s):  
Ultrasonic Motor ◽  
Linear Ultrasonic Motor

Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology

2021 ◽  
Vol 01 (01) ◽  
pp. 2150001
Author(s):  
Jianye Gong ◽  
Yajie Ma ◽  
Bin Jiang ◽  
Zehui Mao
Keyword(s):  
Tracking Control ◽  
Formation Control ◽  
Control Algorithm ◽  
Fault Tolerant ◽  
Control Technique ◽  
Fault Estimation ◽  
Consensus Control ◽  
Formation Tracking ◽  
Control Scheme ◽  
Aerial Vehicle

In this paper, the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) systems with actuator loss of effectiveness faults is investigated. The cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classified into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all followers. The altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired predefined height. Then, based on synchronization formation error information, the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation configuration. The adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness fault. Finally, a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme.

Conditional integrator sliding mode control of an unmanned quadrotor helicopter

2021 ◽  
pp. 095965182110498
Author(s):  
Yohan Díaz-Méndez ◽  
Leandro Diniz de Jesus ◽  
Marcelo Santiago de Sousa ◽  
Sebastião Simões Cunha ◽  
Alexandre Brandão Ramos
Keyword(s):  
Sliding Mode Control ◽  
Transient Response ◽  
Tracking Control ◽  
Position Control ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Law ◽  
Control Problems ◽  
Control Activity ◽  
Mode Control

Sliding mode control (SMC) is a widely used control law for quadrotor regulation and tracking control problems. The purpose of this article is to solve the tracking problem of quadrotors using a relatively novel nonlinear control law based on SMC that makes use of a conditional integrator. It is demonstrated by a motivation example that the proposed control law can improve the transient response and chattering shortcomings of the previous approaches of similar SMC based controllers. The adopted Newton–Euler model of quadrotor dynamics and controller design is treated separately in two subsystems: attitude and position control loops. The stability of the control technique is demonstrated by Lyapunov’s analysis and the effectiveness and performance of the proposed method are compared with a similar integral law, also based on SMC, and validated by tracking control problems using numerical simulations. Simulations were developed in the presence of external disturbances in order to evaluate the controller robustness. The effectiveness of the proposed controller was verified by performance indexes, demonstrating less accumulated tracking errors and control activity and improvement in the transient response and disturbance rejection when compared to a conventional integrator sliding mode controller.

scholarly journals Design and Experimental Research on a Deep-Sea Resonant Linear Ultrasonic Motor

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 57249-57256 ◽  
Author(s):  
Shaopeng He ◽  
Shengjun Shi ◽  
Yunhe Zhang ◽  
Weishan Chen
Keyword(s):  
Experimental Research ◽  
Deep Sea ◽  
Ultrasonic Motor ◽  
Linear Ultrasonic Motor

A novel high thrust–weight ratio linear ultrasonic motor driven by single–phase signal

2018 ◽  
Vol 89 (8) ◽  
pp. 085001 ◽  
Author(s):  
Pingqing Fan ◽  
Xuecheng Shu ◽  
Tao Yuan ◽  
Chaodong Li
Keyword(s):  
Single Phase ◽  
Weight Ratio ◽  
Ultrasonic Motor ◽  
Linear Ultrasonic Motor ◽  
Phase Signal ◽  
High Thrust
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