Control and Control Allocation for Bi-Modal, Rotary Wing, Rolling-Flying Vehicles

2021 ◽  
pp. 1-34
Author(s):  
Stefan Atay ◽  
Matthew Bryant ◽  
Gregory D. Buckner
Keyword(s):  
Closed Loop ◽  
Sliding Mode ◽  
Optimization Techniques ◽  
Control Allocation ◽  
Closed Loop Control ◽  
Loop Control ◽  
Allocation Algorithm ◽  
Standard Configuration ◽  
And Control ◽  
Fifth Order

Abstract This paper presents a robust method for controlling the terrestrial motion of a bi-modal multirotor vehicle that can roll and fly. Factors influencing the mobility and controllability of the vehicle are explored and compared to strictly flying multirotor vehicles; the differences motivate novel control and control allocation strategies which leverage the non-standard configuration of the bi-modal design. A fifth-order dynamic model of the vehicle subject to kinematic rolling constraints is the basis for a nonlinear, multi-input-multi-output, sliding mode controller. Constrained optimization techniques are used to develop a novel control allocation strategy which minimizes power consumption while rolling. Simulations of the vehicle under closed-loop control are presented. A functional hardware embodiment of the vehicle is constructed onto which the controllers and control allocation algorithm are deployed. Experimental data of the vehicle under closed-loop control demonstrate good performance and robustness to parameter uncertainty. Data collected also demonstrate that the control allocation algorithm correctly determines a thrust-minimizing solution in real-time.

scholarly journals Synchronous Generator Rectification System Based on Double Closed-Loop Control of Backstepping and Sliding Mode Variable Structure

Electronics ◽  
2021 ◽  
Vol 10 (15) ◽  
pp. 1832
Author(s):  
Jinfeng Liu ◽  
Xin Qu ◽  
Herbert Ho-Ching Iu
Keyword(s):  
Closed Loop ◽  
Control Structure ◽  
Low Voltage ◽  
Sliding Mode ◽  
Variable Structure ◽  
Synchronous Generator ◽  
Closed Loop Control ◽  
High Current ◽  
Loop Control ◽  
Sliding Mode Variable Structure

Low-voltage and high-current direct current (DC) power supplies are essential for aerospace and shipping. However, its robustness and dynamic response need to be optimized further on some special occasions. In this paper, a novel rectification system platform is built with the low-voltage and high-current permanent magnet synchronous generator (PMSG), in which the DC voltage double closed-loop control system is constructed with the backstepping control method and the sliding mode variable structure (SMVS). In the active component control structure of this system, reasonable virtual control variables are set to obtain the overall structural control variable which satisfied the stability requirements of Lyapunov stability theory. Thus, the fast-tracking and the global adjustment of the system are realized and the robustness is improved. Since the reactive component control structure is simple and no subsystem has to be constructed, the SMVS is used to stabilize the system power factor. By building a simulation model and experimental platform of the 5 V/300 A rectification module based on the PMSG, it is verified that the power factor of the system can reach about 98.5%. When the load mutation occurs, the DC output achieves stability again within 0.02 s, and the system fluctuation rate does not exceed 2%.

Adaptive synchronization of uncertain fractional-order chaotic systems using sliding mode control techniques

2019 ◽  
Vol 234 (1) ◽  
pp. 3-9 ◽  
Author(s):  
Bahram Yaghooti ◽  
Ali Siahi Shadbad ◽  
Kaveh Safavi ◽  
Hassan Salarieh
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Chaotic Systems ◽  
Closed Loop ◽  
Sliding Mode ◽  
Closed Loop Control ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System

In this article, an adaptive nonlinear controller is designed to synchronize two uncertain fractional-order chaotic systems using fractional-order sliding mode control. The controller structure and adaptation laws are chosen such that asymptotic stability of the closed-loop control system is guaranteed. The adaptation laws are being calculated from a proper sliding surface using the Lyapunov stability theory. This method guarantees the closed-loop control system robustness against the system uncertainties and external disturbances. Eventually, the presented method is used to synchronize two fractional-order gyro and Duffing systems, and the numerical simulation results demonstrate the effectiveness of this method.

Optimizing anaerobic co-digestion plants: MIR online instrumentation and dynamic real-time substrate feed optimization

2015 ◽  
Vol 63 (7) ◽  
Author(s):  
Daniel Gaida ◽  
Christian Wolf ◽  
Robin Eccleston ◽  
Michael Bongards
Keyword(s):  
Predictive Control ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Control Loop ◽  
Loop Control ◽  
Plant Operation ◽  
Novel Approaches ◽  
The One ◽  
Middle Infrared ◽  
And Control

AbstractClosed-loop control of the substrate feed as well as the application of online instrumentation are important to achieve optimal biogas plant operation. Therefore, this paper presents two novel approaches for online instrumentation and control to achieve optimal AD plant operation based on middle-infrared spectroscopy on the one hand and nonlinear model predictive control on the other hand. At present, research into both techniques is being performed separately, with the intention that in the future the spectroscopic measurements will be integrated into the control loop.

scholarly journals Design and Control of a Piezoelectric-Driven Microgripper Perceiving Displacement and Gripping Force

Micromachines ◽  
2020 ◽  
Vol 11 (2) ◽  
pp. 121 ◽  
Author(s):  
Yanru Zhao ◽  
Xiaojie Huang ◽  
Yong Liu ◽  
Geng Wang ◽  
Kunpeng Hong
Keyword(s):  
Pid Controller ◽  
Closed Loop ◽  
Tracking Error ◽  
Closed Loop Control ◽  
Structure Parameters ◽  
Loop Control ◽  
Amplification Ratio ◽  
Gripping Force ◽  
And Control ◽  
Tip Displacement

A piezoelectric-driven microgripper with three-stage amplification was designed, which is able to perceive the tip displacement and gripping force. The key structure parameters of the microgripper were determined by finite element optimization and its theoretical amplification ratio was derived. The tracking experiments of the tip displacement and gripping force were conducted with a PID controller. It is shown that the standard deviation of tracking error of the tip displacement is less than 0.2 μm and the gripping force is 0.35 mN under a closed-loop control. It would provide some references for realizing high-precision microassembly tasks with the designed microgripper which can control the displacement and gripping force accurately.

The Effect of Local Force Control on Punch Forces During Panel Forming

2018 ◽  
Author(s):  
William J. Emblom
Keyword(s):  
Closed Loop ◽  
Force Transducer ◽  
Open Loop ◽  
Control Panel ◽  
Closed Loop Control ◽  
Punch Force ◽  
Blank Holder ◽  
Loop Control ◽  
Operational Envelope ◽  
And Control

Methods for improving the robustness of panel forming including the introduction of process sensing and feedback and control has resulted in significant gains in the quality of parts and reduced failures. Initial efforts in implementing closed-loop control during panel forming used active tool elements to ensure that the total punch force followed prescribed trajectories. However, more recently local forces within the tooling have been demonstrated to not only follow desired force trajectories but have been shown to increase the operational envelope of the tooling compared to open-loop tests and even closed-loop test where the total punch force had been controlled. However, what has not been examined is the effect of local force, especially during closed-loop control panel forming operations on the total punch force measured during forming. This paper addresses this by comparing the results of both open-loop tests and closed-loop tests and examining the effects on both local and total punch forces. It was found that while open-loop forming with various constant draw bead depths resulted in varying total punch forces, once closed-loop control was implemented the total punch forces followed virtually identical trajectories. The tooling for this project included local force transducers and a total punch force transducer. In addition, active draw beads could be controlled during forming and a flexible blank holder with variable blank holder forces were part of the setup.

High Speed Weld Control System of Dual-Bypass MIG Based on LabVIEW

2010 ◽  
Vol 139-141 ◽  
pp. 1852-1855
Author(s):  
Cheng Xue ◽  
Yu Shi ◽  
Ding Fan ◽  
Hao Zhong ◽  
Ming Xiao Shi
Keyword(s):  
Control System ◽  
High Speed ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Mig Welding ◽  
Loop Control ◽  
Weld Formation ◽  
And Control ◽  
Control Output ◽  
Test Result

Dual-bypass MIG welding (DB-GMAW) is a new kind of high speed MIG welding with three arcs. In order to monitor the weld process and control it, a high speed weld system of DB-GMAW was built. The system was run by LabVIEW programs, including getting data of system and control output signals. The test result of system showed that all equipments could be used in the same time. Beside images of weld pool and arc, the weld voltages and currents of every part had been acquired. The signals of bypass current and weld speed also had been input TIG welding sources and worktable motor successfully. Meanwhile, the high speed weld formation had a good quality, and all of these established the closed-loop control of high speed DB-GMAW.

Strain Control in an Intelligent Die Based Upon Local Force Control and Blank Holder Forces

2009 ◽  
Author(s):  
William J. Emblom ◽  
Klaus J. Weinmann ◽  
John E. Beard
Keyword(s):  
Closed Loop ◽  
Open Loop ◽  
Die Design ◽  
Closed Loop Control ◽  
Blank Holder Force ◽  
Punch Force ◽  
Blank Holder ◽  
Loop Control ◽  
And Control ◽  
Bead Penetration

An experimental evaluation of the strains in an oval stamp forming die is presented. The die design included a flexible blank holder and active draw beads. The die was instrumented with local punch force and wrinkle sensors and control systems were developed in order to follow local punch force and wrinkle trajectories. Strains were measured after pan forming for both open and closed-loop tests. The relation between blank holder force, draw bead penetration, and strains were explored in the critical strain region of the formed pan. Closed-loop control of the local punch forces at the die ends was established using blank holder forces. The strains for tests with various lubrication conditions and draw bead penetrations were compared. It was observed that there is a tendency for the strains in critical locations to converge or remain constant for the closed-loop control tests while the strains tended to increase with blank holder force for open-loop tests. It was concluded that by controlling local punch forces, strain is indirectly controlled.

scholarly journals Using Interval Analysis to Compute the Invariant Set of a Nonlinear Closed-Loop Control System

Algorithms ◽  
2019 ◽  
Vol 12 (12) ◽  
pp. 262 ◽  
Author(s):  
Swantje Romig ◽  
Luc Jaulin ◽  
Andreas Rauh
Keyword(s):  
Interval Analysis ◽  
Closed Loop ◽  
Sliding Mode ◽  
Initial Conditions ◽  
Invariant Sets ◽  
Control Synthesis ◽  
Closed Loop Control ◽  
Loop Control ◽  
Loop Control System ◽  
Bézout’S Identity

In recent years, many applications, as well as theoretical properties of interval analysis have been investigated. Without any claim for completeness, such applications and methodologies range from enclosing the effect of round-off errors in highly accurate numerical computations over simulating guaranteed enclosures of all reachable states of a dynamic system model with bounded uncertainty in parameters and initial conditions, to the solution of global optimization tasks. By exploiting the fundamental enclosure properties of interval analysis, this paper aims at computing invariant sets of nonlinear closed-loop control systems. For that purpose, Lyapunov-like functions and interval analysis are combined in a novel manner. To demonstrate the proposed techniques for enclosing invariant sets, the systems examined in this paper are controlled via sliding mode techniques with subsequently enclosing the invariant sets by an interval based set inversion technique. The applied methods for the control synthesis make use of a suitably chosen Gröbner basis, which is employed to solve Bézout’s identity. Illustrating simulation results conclude this paper to visualize the novel combination of sliding mode control with an interval based computation of invariant sets.

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