Modeling and Control of PANTHERA Self-Reconfigurable Pavement Sweeping Robot under Actuator Constraints

2021 ◽  
Author(s):  
Madan Mohan Rayguru ◽  
M. R. Elara ◽  
A. A. Hayat ◽  
B. Ramalingam ◽  
Spandan Roy
Keyword(s):  
Modeling And Control ◽  
Actuator Constraints ◽  
And Control

Experimental validation of constraint mitigation algorithm in underwater robot depth control

2018 ◽  
Vol 233 (3) ◽  
pp. 264-275
Author(s):  
Juan Luis Rosendo ◽  
Benoit Clement ◽  
Fabricio Garelli
Keyword(s):  
Closed Loop ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Path Following ◽  
Underwater Robot ◽  
Modeling And Control ◽  
Depth Control ◽  
Actuator Constraints ◽  
Proportional Derivative Controller ◽  
And Control

This work explores both modeling and control of the experimental Ciscrea autonomous underwater vehicle. A 6-degree-of-freedom model is presented and validated for turn and emerge/sink maneuvers. Then, a constraint compensating algorithm is proposed based on quasi-sliding mode conditioning ideas and added to a pre-existing inaccessible proportional-derivative controller in order to improve the overall closed-loop response. By considering actuator constraints, the employed technique allows path following at greater speed than the original controller for a given error tolerance. Experimental results on the so-called Ciscrea underwater robot are presented.

Modeling and Control for Plant Dynamics Based on Reinforcement Learning

2009 ◽  
Vol 129 (4) ◽  
pp. 363-367
Author(s):  
Tomoyuki Maeda ◽  
Makishi Nakayama ◽  
Hiroshi Narazaki ◽  
Akira Kitamura
Keyword(s):  
Reinforcement Learning ◽  
Modeling And Control ◽  
Plant Dynamics ◽  
And Control

MODELING AND CONTROL OF HORIZONTAL FLEXIBLE PLATE USING PID-CS CONTROLLER

2019 ◽  
Vol 42 (4) ◽  
pp. 138-142
Author(s):  
Mohammed Jawad Mohammed ◽  
Majida Khalil Ahmed ◽  
Basma Abdullah Abbas
Keyword(s):  
Flexible Plate ◽  
Modeling And Control ◽  
And Control
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