scholarly journals Multi-variable constrained control approach for a three-dimensional eel-like robot

2008 ◽  
Author(s):  
M. El Rafei ◽  
M. Alamir ◽  
N. Marchand ◽  
M. Porez ◽  
F. Boyer
Keyword(s):  
Three Dimensional ◽  
Constrained Control ◽  
Control Approach

scholarly journals UAV Formation Shape Control via Decentralized Markov Decision Processes

Algorithms ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 91
Author(s):  
Md Ali Azam ◽  
Hans D. Mittelmann ◽  
Shankarachary Ragi
Keyword(s):  
Control Problem ◽  
Shape Control ◽  
Formation Control ◽  
Three Dimensional ◽  
Geographical Region ◽  
Dynamic Programming Method ◽  
Theoretic Approach ◽  
Control Approach ◽  
Uav Swarm ◽  
Markov Decision

In this paper, we present a decentralized unmanned aerial vehicle (UAV) swarm formation control approach based on a decision theoretic approach. Specifically, we pose the UAV swarm motion control problem as a decentralized Markov decision process (Dec-MDP). Here, the goal is to drive the UAV swarm from an initial geographical region to another geographical region where the swarm must form a three-dimensional shape (e.g., surface of a sphere). As most decision-theoretic formulations suffer from the curse of dimensionality, we adapt an existing fast approximate dynamic programming method called nominal belief-state optimization (NBO) to approximately solve the formation control problem. We perform numerical studies in MATLAB to validate the performance of the above control algorithms.

scholarly journals Three-dimensional data-tracking simulations of sprinting using a direct collocation optimal control approach

PeerJ ◽  
2021 ◽  
Vol 9 ◽  
pp. e10975
Author(s):  
Nicos Haralabidis ◽  
Gil Serrancolí ◽  
Steffi Colyer ◽  
Ian Bezodis ◽  
Aki Salo ◽  
...  
Keyword(s):  
Experimental Data ◽  
Reaction Force ◽  
Three Dimensional ◽  
Contact Model ◽  
Model Parameters ◽  
Ground Contact ◽  
Control Approach ◽  
Average Percentage ◽  
Data Tracking ◽  
The Individual

Biomechanical simulation and modelling approaches have the possibility to make a meaningful impact within applied sports settings, such as sprinting. However, for this to be realised, such approaches must first undergo a thorough quantitative evaluation against experimental data. We developed a musculoskeletal modelling and simulation framework for sprinting, with the objective to evaluate its ability to reproduce experimental kinematics and kinetics data for different sprinting phases. This was achieved by performing a series of data-tracking calibration (individual and simultaneous) and validation simulations, that also featured the generation of dynamically consistent simulated outputs and the determination of foot-ground contact model parameters. The simulated values from the calibration simulations were found to be in close agreement with the corresponding experimental data, particularly for the kinematics (average root mean squared differences (RMSDs) less than 1.0° and 0.2 cm for the rotational and translational kinematics, respectively) and ground reaction force (highest average percentage RMSD of 8.1%). Minimal differences in tracking performance were observed when concurrently determining the foot-ground contact model parameters from each of the individual or simultaneous calibration simulations. The validation simulation yielded results that were comparable (RMSDs less than 1.0° and 0.3 cm for the rotational and translational kinematics, respectively) to those obtained from the calibration simulations. This study demonstrated the suitability of the proposed framework for performing future predictive simulations of sprinting, and gives confidence in its use to assess the cause-effect relationships of technique modification in relation to performance. Furthermore, this is the first study to provide dynamically consistent three-dimensional muscle-driven simulations of sprinting across different phases.

Three-Dimensional Pressure Controlled Vortex Design of a Turbine Stage

2012 ◽  
Author(s):  
Qingfeng Deng ◽  
Qun Zheng ◽  
Guoqiang Yue ◽  
Hai Zhang ◽  
Mingcong Luo
Keyword(s):  
Pressure Gradient ◽  
Secondary Flow ◽  
Three Dimensional ◽  
Pressure Control ◽  
Turbine Stage ◽  
Stream Surface ◽  
Control Approach ◽  
Flow Losses ◽  
Pressure Controlled ◽  
Surface Thickness

A three-dimensional (3D) Pressure Controlled Vortex Design (PCVD) method for turbine stage design is proposed and discussed in this paper. The concept is developed from conventional Controlled Vortex Design (CVD) via pressure control approach and CVD technology. By specifying the static pressure and axial velocity distributions, the spanwise pressure gradient incorporated with pressure gradient in streamwise and azimuthal directions is moderated. Not only can profile loss profit from pressure control approach, but also secondary flow can be managed. The reasons for CVD are derived from stream surface thickness and stream surface twist. Through modifying stream surface thickness and inducing large stream surface twist, the secondary flow migrations are controlled properly and orderly. The relations of pressure control approach and CVD technology complement one another and finally lead to a well-posed flow pattern in turbine stage. The first stage redesign of a well-designed low pressure turbine demonstrates this technique application. A significant reduction of secondary flow losses and a corresponding increase of stage efficiency have achieved.

Motion and Vibration Control of Three Dimensional Flexible Shaking Table Using LQI Control Approach

2001 ◽  
Author(s):  
Hidefumi Hiramatsu ◽  
Daijiro Fuji ◽  
Kazuto Seto ◽  
Toru Watanabe
Keyword(s):  
Vibration Control ◽  
Three Dimensional ◽  
Design Procedure ◽  
Equation System ◽  
State Equation ◽  
Shaking Table ◽  
System Model ◽  
Vibration Modes ◽  
Control Approach ◽  
Control Forces

Abstract This paper deals with a design procedure of control system for a three-dimensional flexible shaking table. The shaking table should be less weighted so that actuators require less control forces and higher fidelity to control commands. However, as the weight of shaking table is reduced, the natural frequencies of vibration modes of the table appear on operating frequency region. Such vibration modes get into problem that may cause spillover instability. So, the research purpose is to control such vibration and motion by using the modeling method presented by Seto [1]. Utilizing the model, state equation system model including integrator is composed and feedback controller is designed by using LQI control law. As the system model both includes the multi-degree-of -freedom-structure model and integrator, the designed controller achieves simultaneous motion and vibration control. Computer simulation and control experiments are carried out and the effectiveness of the presented procedure is investigated.

Generating Chaos from Two Three-Dimensional Rigorous Linear Systems via a Novel Switching Control Approach

2016 ◽  
Vol 26 (13) ◽  
pp. 1650212 ◽  
Author(s):  
Changchun Sun ◽  
Qicheng Xu
Keyword(s):  
Equilibrium Point ◽  
Linear Systems ◽  
Three Dimensional ◽  
Constant Term ◽  
Switching Control ◽  
Numerical Examples ◽  
Absolute Value ◽  
Control Approach ◽  
Switching Law ◽  
Dynamical Behaviors

By constructing two three-dimensional (3D) rigorous linear systems, a novel switching control approach for generating chaos from two linear systems is presented. Two 3D linear systems without any constant term have only one common equilibrium point that is the origin. By employing an absolute-value switching law, chaos can be generated by switching between two linear systems. Basic dynamical behaviors of the systems are investigated in detail. Numerical examples illustrate the effectiveness of the presented approach.

scholarly journals Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shanshan Du ◽  
Heping Chen ◽  
Yong Liu ◽  
Runting Hu
Keyword(s):  
Animal Behavior ◽  
Position Control ◽  
Control Method ◽  
Impedance Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Control Methods ◽  
Prior Work ◽  
Control Approach ◽  
Three Dimensional Space

Currently, a bottleneck problem for battery-powered microflying robots is time of endurance. Inspired by flying animal behavior in nature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase mission life and more importantly execute tasks perching on an object in the stationary way. In prior work, we have developed some prototypes of flying and perching robots. However, when the robots switch between flying and perching, it is a challenging issue to deal with the contact between the robot and environment under the traditional position control without considering the stationary obstacle and external force. Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots to smoothly contact with the environment. The dynamic model of the bioinspired robot is deduced, and the proposed impedance control method is employed to control the contact force and displacement with the environment. Simulations including the top perching and side perching and the preliminary experiments were conducted to validate the proposed method. Both simulation and experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching robot.

Active Control of Low Frequency Modes in an Aircraft Fuselage Using Spatially Weighted Arrays

2000 ◽  
Vol 122 (3) ◽  
pp. 227-234 ◽  
Author(s):  
Steven A. Lane ◽  
Robert L. Clark ◽  
Steve C. Southward
Keyword(s):  
Three Dimensional ◽  
Pressure Sensors ◽  
Low Frequency ◽  
Single Mode ◽  
Open Loop ◽  
H2 Control ◽  
Low Frequencies ◽  
Control Approach ◽  
Aircraft Fuselage ◽  
Transducer Arrays

Acoustic enclosures such as aircraft cabins often display lightly damped modal behavior at low frequencies where passive treatments are impractical due to mass and volume constraints. This work presents a feedback control approach using dynamic H2 controllers implemented with spatially weighted arrays of collocated pressure sensors and constant volume-velocity actuators. The open-loop system is shaped using spatially weighted transducer arrays to yield increased pole-zero separation, which results in better closed-loop performance. The transducer arrays are weighted to emphasize coupling to a particular acoustic mode or modes, which facilitates global control of the targeted dynamics. This work presents a method to determine the spatial weighting vectors for the transducer arrays from frequency response measurements. The development and implementation of low-order, dynamic H2 control laws is also discussed. Experimental results are presented for a single-mode and a multiple-mode controller implemented on an aircraft fuselage section, and demonstrate significant reduction of the targeted acoustic modes. To the best of the authors’ knowledge, this is the first experimental implementation of a feedback controller of this type capable of achieving such levels of global reduction in a three-dimensional acoustic system. [S0739-3717(00)02303-5]

scholarly journals Computationally-Efficient Distributed Algorithms of Navigation of Teams of Autonomous UAVs for 3D Coverage and Flocking

Drones ◽  
2021 ◽  
Vol 5 (4) ◽  
pp. 124
Author(s):  
Taha Elmokadem ◽  
Andrey V. Savkin
Keyword(s):  
Obstacle Avoidance ◽  
Precision Agriculture ◽  
Control Strategies ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Problem Formulation ◽  
Computationally Efficient ◽  
Control Approach ◽  
Computational Performance ◽  
Coverage Problems

This paper proposes novel distributed control methods to address coverage and flocking problems in three-dimensional (3D) environments using multiple unmanned aerial vehicles (UAVs). Two classes of coverage problems are considered in this work, namely barrier and sweep problems. Additionally, the approach is also applied to general 3D flocking problems for advanced swarm behavior. The proposed control strategies adopt a region-based control approach based on Voronoi partitions to ensure collision-free self-deployment and coordinated movement of all vehicles within a 3D region. It provides robustness for the multi-vehicle system against vehicles’ failure. It is also computationally-efficient to ensure scalability, and it handles obstacle avoidance on a higher level to avoid conflicts in control with the inter-vehicle collision avoidance objective. The problem formulation is rather general considering mobile robots navigating in 3D spaces, which makes the proposed approach applicable to different UAV types and autonomous underwater vehicles (AUVs). However, implementation details have also been shown considering quadrotor-type UAVs for an example application in precision agriculture. Validation of the proposed methods have been performed using several simulations considering different simulation platforms such as MATLAB and Gazebo. Software-in-the-loop simulations were carried out to asses the real-time computational performance of the methods showing the actual implementation with quadrotors using C++ and the Robot Operating System (ROS) framework. Good results were obtained validating the performance of the suggested methods for coverage and flocking scenarios in 3D using systems with different sizes up to 100 vehicles. Some scenarios considering obstacle avoidance and robustness against vehicles’ failure were also used.

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