Reference Trajectory Tracking of Overhead Cranes

1998 ◽  
Vol 123 (1) ◽  
pp. 139-141 ◽  
Author(s):  
Kamal A. F. Moustafa
Keyword(s):  
Stability Analysis ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Lyapunov Functions ◽  
Reference Trajectory ◽  
Asymptotically Stable ◽  
Overhead Cranes ◽  
Swing Angle ◽  
Angle Stability ◽  
Feedback Control Strategy

This paper addresses the automation problem of overhead cranes. A feedback control strategy is proposed so that the crane travel and hoisting or lowering motions are forced to track a given reference trajectory while killing the payload swing angle. Stability analysis is carried out using Lyapunov functions and it is shown that the equilibrium point of the crane system is asymptotically stable.

Event-triggered integral sliding mode fixed time control for trajectory tracking of autonomous underwater vehicle

2021 ◽  
pp. 014233122199438
Author(s):  
Bo Su ◽  
Hongbin Wang ◽  
Ning Li
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Fixed Time ◽  
Underwater Vehicle ◽  
Reference Trajectory ◽  
Integral Sliding Mode ◽  
Time Control ◽  
Event Triggered

In this paper, an event-triggered integral sliding mode fixed-time control method for trajectory tracking problem of autonomous underwater vehicle (AUV) with disturbance is investigated. Initially, the global fixed time stability is ensured with conventional periodic sampling method for reference trajectory tracking. By introducing fixed time integral sliding mode manifold, fixed time control strategy is expressed for the AUV, which can effectively eliminate the singularity. Correspondingly, in order to reduce the damage caused by chattering phenomenon, an adaptive fixed-time method is proposed based on the designed continuous integral terminal sliding mode (ITSM) to ensure that the trajectory tracking for AUV is achieved in fixed-time with external disturbance. In order to reduce resource consumption in the process of transmission network, the event-triggered sliding mode control strategy is designed which condition is triggered by an event. Also, Zeno behavior is avoided by proof of theoretical. It is shown that the upper bounds of settling time are only dependent on the parameters of controller. Theoretical analysis and simulation experiment results show that the presented methods can realize the control object.

scholarly journals Stability Analysis for Autonomous Dynamical Switched Systems through Nonconventional Lyapunov Functions

2015 ◽  
Vol 2015 ◽  
pp. 1-12 ◽  
Author(s):  
V. Nosov ◽  
J. A. Meda-Campaña ◽  
J. C. Gomez-Mancilla ◽  
J. O. Escobedo-Alva ◽  
R. G. Hernández-García
Keyword(s):  
Stability Analysis ◽  
Finite Number ◽  
Switched Systems ◽  
Lyapunov Functions ◽  
Switched System ◽  
Linear Functions ◽  
Asymptotically Stable ◽  
Multiple Lyapunov Functions ◽  
Stability Theorems ◽  
The Stability

The stability of autonomous dynamical switched systems is analyzed by means of multiple Lyapunov functions. The stability theorems given in this paper have finite number of conditions to check. It is shown that linear functions can be used as Lyapunov functions. An example of an exponentially asymptotically stable switched system formed by four unstable systems is also given.

Energy-Based Approach for Controller Design of Overhead Cranes: A Comparative Study

2013 ◽  
Vol 365-366 ◽  
pp. 784-787 ◽  
Author(s):  
Nguyen Quang Hoang ◽  
Soon Geul Lee
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Asymptotically Stable ◽  
Overhead Crane ◽  
Overhead Cranes ◽  
Swing Angle ◽  
Optimal Linear ◽  
Linear And Nonlinear ◽  
Invariance Theorem ◽  
Lyapunov Technique

In this paper, five controllers including linear and nonlinear ones for an underactuated overhead crane are derived based on the passivity of the system. The total energy of the system and its square are used in Lyapunov candidate function to design controllers. The equilibrium point of the closed loop is proven to be asymptotically stable by the Lyapunov technique and LaSalle invariance theorem. In addition, the optimal linear controller is also combined to force the swing angle to converge fast to zero by reaching destination of the trolley. Numerical simulations are carried out to evaluate the controllers.

scholarly journals A Mathematical Modeling of Tuberculosis Dynamics with Hygiene Consciousness as a Control Strategy

2020 ◽  
pp. 38-48
Author(s):  
Phineas Z. Mawira ◽  
David M. Malonza
Keyword(s):  
Stability Analysis ◽  
Global Stability ◽  
Control Strategy ◽  
Local Stability ◽  
Equilibrium Points ◽  
Asymptotically Stable ◽  
Linear Ordinary Differential Equations ◽  
Global Stability Analysis ◽  
Local Stability Analysis ◽  
Disease Free

Tuberculosis, an airborne infectious disease, remains a major threat to public health in Kenya. In this study, we derived a system of non-linear ordinary differential equations from the SLICR mathematical model of TB to study the effects of hygiene consciousness as a control strategy against TB in Kenya. The effective basic reproduction number (R0) of the model was determined by the next generation matrix approach. We established and analyzed the equilibrium points. Using the Routh-Hurwitz criterion for local stability analysis and comparison theorem for global stability analysis, the disease-free equilibrium (DFE) was found to be locally asymptotically stable given that R0 < 1.  Also by using the Routh-Hurwitz criterion for local stability analysis and Lyapunov function and LaSalle’s invariance principle for global stability analysis, the endemic equilibrium (EE) point was found to be locally asymptotically stable given that R0 > 1. Using MATLAB ode45 solver, we simulated the model numerically and the results suggest that hygiene consciousness can helpin controlling TB disease if incorporated effectively.

scholarly journals Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead Zones

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Pengfei Zhang ◽  
Qiyuan Chen ◽  
Tingting Yang
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Tracking Control ◽  
Dead Zone ◽  
Fixed Time ◽  
Reference Trajectory ◽  
Ground Vehicles ◽  
Trajectory Tracking Control ◽  
Dead Zones ◽  
Autonomous Ground Vehicles

This paper investigates the trajectory tracking problem of autonomous ground vehicles (AGVs). The dynamics considered feature external disturbances, model uncertainties, and actuator dead zones. First, a novel time-varying yaw guidance law is proposed based on the line of sight method. By a state transformation, the AGV is proved to realize trajectory tracking control under the premise of eliminating guidance deviation. Second, a fixed time dead zone compensation control method is introduced to ensure the yaw angle tracking of the presented guidance. Furthermore, an improved fixed-time disturbance observer is proposed to compensate for the influence of the actuator dead zone on disturbance observation. Finally, the trajectory tracking control strategy is designed, and simulation comparison shows the effectiveness of the compensate method. The CarSim–MATLAB cosimulation shows that the proposed control strategy effectively makes the AGV follow the reference trajectory.

scholarly journals A Mathematical Model of Rabies Transmission Dynamics in Dogs Incorporating Public Health Education as a Control Strategy -A Case Study of Makueni County

2020 ◽  
pp. 1-11
Author(s):  
Jane S. Musaili ◽  
Isaac Chepkwony
Keyword(s):  
Public Health ◽  
Mathematical Model ◽  
Stability Analysis ◽  
Health Education ◽  
Control Strategy ◽  
Public Health Education ◽  
Transmission Dynamics ◽  
Asymptotically Stable ◽  
Globally Asymptotically Stable ◽  
Disease Free

Rabies is a zoonotic viral disease that aects all mammals including human beings. Dogs are responsible for 99% of human rabies cases and the disease is always fatal once the symptoms appear. In Kenya the disease is still endemic despite the fact that there are ecient vaccines for controlling the disease. In this project, we developed SIRS mathematical model using a system of ordinary dierential equations from the model to study the transmission dynamics of rabies virusin dogs using public health education as a control strategy. The reproduction number R0 was calculated using the Next Generation Matrix. Both disease free and endemics equilibrium points were determined and their stability analysis performed. From the stability analysis results it was found out that the disease free equilibrium point is both locally and globally asymptotically stable when R0 < 1 and the endemic equilibrium point is both locally and globally asymptotically stable when R0 > 1. Numerical simulations done using Matlab indicated that education of the public on administration of both pre and post exposure vaccines to dogs and responsible dog ownership leads to a decrease in the numbers of rabies virus infected dogs which shows that public health education is an ecient means for controlling rabies.

Dexterous Trajectory Tracking Control of a Mobile Robot

2003 ◽  
Author(s):  
Zheng Zhang ◽  
Meng Ji ◽  
Nilanjan Sarkar
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Tracking Control ◽  
Hybrid Control ◽  
Control Technique ◽  
Reference Trajectory ◽  
Trajectory Tracking Control ◽  
Navigation Strategy ◽  
Control Framework

A departure from the traditional trajectory tracking control technique of a mobile robot is presented here in order to accommodate sudden changes in the reference trajectory. It is expected that in a dynamic, uncretain environment the robot may need to make sudden changes in its navigation strategy that may necessitate such an approach. In this work, a hybrid control framework is developed that first determines a suitable control strategy for a particular subtask and then implements it by means of choosing the specific controller. A supervisor is used to determine the suitable control strategy. The swiching stability among a set of trajectory tracking controllers is analyzed. Extensive simulation results demonstrate the efficacy of the proposed control technique.

Dry chip feedrate control using online chip moisture

TAPPI Journal ◽  
2018 ◽  
Vol 17 (05) ◽  
pp. 295-305
Author(s):  
Wesley Gilbert ◽  
Ivan Trush ◽  
Bruce Allison ◽  
Randy Reimer ◽  
Howard Mason
Keyword(s):  
Production Rate ◽  
Control Strategy ◽  
Rate Control ◽  
Near Infrared ◽  
Dry Mass ◽  
The Other ◽  
Process Variability ◽  
Moisture Sensor ◽  
Feedback Control Strategy ◽  
And Control

Normal practice in continuous digester operation is to set the production rate through the chip meter speed. This speed is seldom, if ever, adjusted except to change production, and most of the other digester inputs are ratioed to it. The inherent assumption is that constant chip meter speed equates to constant dry mass flow of chips. This is seldom, if ever, true. As a result, the actual production rate, effective alkali (EA)-to-wood and liquor-to-wood ratios may vary substantially from assumed values. This increases process variability and decreases profits. In this report, a new continuous digester production rate control strategy is developed that addresses this shortcoming. A new noncontacting near infrared–based chip moisture sensor is combined with the existing weightometer signal to estimate the actual dry chip mass feedrate entering the digester. The estimated feedrate is then used to implement a novel feedback control strategy that adjusts the chip meter speed to maintain the dry chip feedrate at the target value. The report details the results of applying the new measurements and control strategy to a dual vessel continuous digester.

scholarly journals An Optimal Feedback Control Strategy for Nonlinear, Distributed-Parameter Processes

Processes ◽  
2019 ◽  
Vol 7 (10) ◽  
pp. 758 ◽  
Author(s):  
Debaprasad Dutta ◽  
Simant Ranjan Upreti
Keyword(s):  
Feedback Control ◽  
Oil Recovery ◽  
Control Strategy ◽  
Moving Boundary ◽  
State Feedback Control ◽  
Optimal Feedback Control ◽  
Distributed Parameter ◽  
Optimal State ◽  
Non Linear ◽  
Feedback Control Strategy

In this work, an optimal state feedback control strategy is proposed for non-linear, distributed-parameter processes. For different values of a given parameter susceptible to upsets, the strategy involves off-line computation of a repository of optimal open-loop states and gains needed for the feedback adjustment of control. A gain is determined by minimizing the perturbation of the objective functional about the new optimal state and control corresponding to a process upset. When an upset is encountered in a running process, the repository is utilized to obtain the control adjustment required to steer the process to the new optimal state. The strategy is successfully applied to a highly non-linear, gas-based heavy oil recovery process controlled by the gas temperature with the state depending non-linearly on time and two spatial directions inside a moving boundary, and subject to pressure upsets. The results demonstrate that when the process has a pressure upset, the proposed strategy is able to determine control adjustments with negligible time delays and to navigate the process to the new optimal state.

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