Robust Stabilization of Large Amplitude Ship Rolling in Beam Seas

1997 ◽  
Vol 122 (1) ◽  
pp. 108-113 ◽  
Author(s):  
Shyh-Leh Chen ◽  
Steven W. Shaw ◽  
Hassan K. Khalil ◽  
Armin W. Troesch
Keyword(s):  
Large Amplitude ◽  
Controller Design ◽  
Sliding Mode ◽  
Robust Stabilization ◽  
Vertical Plane ◽  
Singularly Perturbed Systems ◽  
Strongly Nonlinear ◽  
Beam Seas ◽  
Dynamics And Control ◽  
And Control

The dynamics and control of a strongly nonlinear 3-DOF model for ship motion are investigated. The model describes the roll, sway, and heave motions occurring in a vertical plane when the vessel is subjected to beam seas. The ship is installed with active antiroll tanks as a means of preventing large amplitude roll motions. A robust state feedback controller for the pumps is designed that can handle model uncertainties, which arise primarily from unknown hydrodynamic loads. The approach for the controller design is a combination of sliding mode control and composite control for singularly perturbed systems, with the help of the backstepping technique. It is shown that this design can effectively control roll motions of large amplitude, including capsize prevention. Numerical simulation results for an existing fishing vessel, the twice-capsized Patti-B, are used to verify the analysis. [S0022-0434(00)02701-5]

Automated System of Stabilization and Position Control of Aviation Equipment

2019 ◽  
pp. 297-330
Author(s):  
Olha Sushchenko
Keyword(s):  
Position Control ◽  
Transfer Functions ◽  
Controller Design ◽  
Robust Stabilization ◽  
Automated System ◽  
Simulink Model ◽  
The Matrix ◽  
Stabilized Platform ◽  
And Control ◽  
The Mathematical Model

In this chapter, the author presents the problems of design of the robust automated system for stabilization and control of platforms with aircraft observation equipment. The mathematical model of the triaxial stabilized platform is developed. The procedure of synthesis of robust stabilization system based on robust structural synthesis is represented. The above-mentioned procedure uses loop-shaping approach and method of the mixed sensitivity. The matrix weighting transfer functions are obtained. The optimization programs in MatLab are developed. The developed procedures are approved based on the results of simulation by means of the appropriate Simulink model. The obtained results can be useful for unmanned aerial vehicles and aircraft of special aviation, which are used for monitoring technical objects and aerial photography. The technical contributions are procedures of the robust controller design represented as the flowchart. The proposed approach is validated by application of the theoretical suppositions to the concrete example and appropriate simulation results.

Electrospinning Nanofibers: Measurements, Dynamics, and Control Strategy Development

2014 ◽  
Author(s):  
Yunshen Cai ◽  
Michael Gevelber
Keyword(s):  
Controller Design ◽  
Fiber Diameter ◽  
Operating Regime ◽  
Strategy Development ◽  
Process Conditions ◽  
Control Approach ◽  
Process Dynamics ◽  
Wide Range ◽  
Dynamics And Control ◽  
And Control

Electrospinning produces submicron fibers for a variety of applications using a wide range of polymers. Achieving the desired fiber diameter, maximizing productivity, and minimizing variation are important production objectives. This paper addresses several important areas needed to develop a general electrospinning control approach including: developing a correlation between measurements, process conditions, and the resulting fiber diameter, developing a method to determine an operating regime that meets manufacturing objectives, and identifying process dynamics for controller design.

Attitude Dynamics and Control of Liquid Filled Spacecraft with Large Amplitude Fuel Slosh

2016 ◽  
Vol 33 (1) ◽  
pp. 125-136 ◽  
Author(s):  
M.-L. Deng ◽  
B.-Z. Yue
Keyword(s):  
Control Strategy ◽  
Attitude Control ◽  
Large Amplitude ◽  
Lyapunov Theory ◽  
Attitude Dynamics ◽  
Equivalent Mechanical Model ◽  
Attitude Maneuver ◽  
Dynamics And Control ◽  
Fuel Slosh ◽  
And Control

AbstractThis paper focuses on the attitude dynamics and control of liquid filled spacecraft, and the large amplitude fuel slosh dynamics is included by using an improved moving pulsating ball model. The moving pulsating ball model is an equivalent mechanical model that is capable of imitating the whole liquid reorientation process, specifically for the occurrence of large amplitude slosh. This model is improved by incorporating a static capillary force and an effective mass factor. The improvements on this model are validated with previously published experiment results. The spacecraft attitude maneuver is implemented by the momentum transfer technique, and the feedback control strategy is designed based on Lyapunov theory. The effects of liquid viscosity, tank location and desired steady time on sloshing torque and control torque are investigated. The attitude control strategy applied in this paper is proved to be applicable for the coupled liquid filled spacecraft system. The obtained conclusions are useful to aid in liquid filled spacecraft overall design.

A Comparative, Experimental Study of Model Suitability to Describe Vehicle Rollover Dynamics for Control Design

2005 ◽  
Author(s):  
John T. Cameron ◽  
Sean Brennan
Keyword(s):  
Experimental Validation ◽  
Controller Design ◽  
Experimental Testing ◽  
Control Strategies ◽  
Control Design ◽  
Experimental Results ◽  
Dynamics And Control ◽  
Vehicle Rollover ◽  
And Control ◽  
Future Work

This work presents results of an initial investigation into models and control strategies suitable to prevent vehicle rollover due to untripped driving maneuvers. Outside of industry, the study of vehicle rollover inclusive of both experimental validation and practical controller design is limited. The researcher interested in initiating study on rollover dynamics and control is left with the challenging task of identifying suitable vehicle models from the literature, comparing these models with experimental results, and determining suitable parameters for the models. This work addresses these issues via experimental testing of published models. Parameter estimation data based on model fits is presented, with commentary given on the validity of different methods. Experimental results are then presented and compared to the output predicted by the various models in both the time and frequency domain in order to provide a foundation for future work.

scholarly journals Guidance Law and Neural Control for Hypersonic Missile to Track Targets

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Wenxing Fu ◽  
Binbin Yan ◽  
Xiaofei Chang ◽  
Jie Yan
Keyword(s):  
Neural Control ◽  
Controller Design ◽  
Sliding Mode ◽  
External Disturbance ◽  
Control Laws ◽  
Guidance And Control ◽  
Maneuvering Target ◽  
Guidance Law ◽  
Control Command ◽  
And Control

Hypersonic technology plays an important role in prompt global strike. Because the flight dynamics of a hypersonic vehicle is nonlinear, uncertain, and highly coupled, the controller design is challenging, especially to design its guidance and control law during the attack of a maneuvering target. In this paper, the sliding mode control (SMC) method is used to develop the guidance law from which the desired flight path angle is derived. With the desired information as control command, the adaptive neural control in discrete time is investigated ingeniously for the longitudinal dynamics of the hypersonic missile. The proposed guidance and control laws are validated by simulation of a hypersonic missile against a maneuvering target. It is demonstrated that the scheme has good robustness and high accuracy to attack a maneuvering target in the presence of external disturbance and missile model uncertainty.

On the Dynamics and Control of a Full Wrist Exoskeleton for Tremor Alleviation

2019 ◽  
Author(s):  
Jiamin Wang ◽  
Oumar Barry ◽  
Andrew J. Kurdila ◽  
Sujith Vijayan
Keyword(s):  
Controller Design ◽  
Human Motion ◽  
Structural Function ◽  
Wrist Flexion ◽  
Unknown Parameters ◽  
Ulnar Deviation ◽  
Marquardt Algorithm ◽  
Flexion Extension ◽  
Dynamics And Control ◽  
And Control

Abstract This paper introduces a novel wearable full wrist exoskeleton designed for the alleviation of tremor in patients suffering from Parkinson’s Disease and Essential Tremor. The design introduces a structure to provide full observation of wrist kinematics as well as actuation in wrist flexion/extension and radial/ulnar deviation. To examine the feasibility of the design, the coupled dynamics of the device and the forearm is modeled via a general multibody framework. The dynamic analysis considers human motion, wrist stiffness, and tremor dynamics. The analysis of the model reveals that the identification of the wrist kinematics is indispensable for the controller design. Nonlinear regression based on the Levenberg-Marquardt algorithm has been applied to estimate the unknown parameters in a kinematic structural function designed to approximate the wrist kinematics, which leads to the construction of the control system framework. Finally, several simulation cases are demonstrated to conclude the study.

On the Dynamics and Control of Robotic Manipulators with an Automatic Balancing Mechanism

1987 ◽  
Vol 201 (1) ◽  
pp. 25-34 ◽  
Author(s):  
W K Chung ◽  
H S Cho
Keyword(s):  
Control Algorithm ◽  
Controller Design ◽  
Torque Control ◽  
Manipulator Dynamics ◽  
Wide Range ◽  
Non Linear ◽  
Dynamics And Control ◽  
Characteristic Features ◽  
Automatic Balancing ◽  
And Control

Non-linear characteristics and uncertainty in manipulator dynamics caused by payload effects are major hurdles in controller design. To overcome such hurdles the authors have introduced an automatic balancing concept which has been proved to reduce the non-linear complexity in manipulator dynamics as well as to remove gravity loading. This paper examines the characteristic features of balanced manipulator dynamics in more detail and presents an efficient control algorithm suitable for the dynamics. Since the dynamics of a balanced manipulator are characterized by partially configuration-independent inertial properties, the present algorithm adopts two different control concepts ‘the computed torque control’ for the joint having coupled, configuration-dependent inertia and ‘an optimal constant feedback control’ for the joints having configuration-independent inertia. To evaluate the proposed control algorithm, simulation studies were made over a wide range of manipulator speeds and payloads. Based upon the simulation results, the efficiency of the controller is discussed in detail.

Automated System of Stabilization and Position Control of Aviation Equipment

2021 ◽  
pp. 995-1029
Author(s):  
Olha Sushchenko
Keyword(s):  
Position Control ◽  
Transfer Functions ◽  
Controller Design ◽  
Robust Stabilization ◽  
Automated System ◽  
Simulink Model ◽  
The Matrix ◽  
Stabilized Platform ◽  
And Control ◽  
The Mathematical Model

In this chapter, the author presents the problems of design of the robust automated system for stabilization and control of platforms with aircraft observation equipment. The mathematical model of the triaxial stabilized platform is developed. The procedure of synthesis of robust stabilization system based on robust structural synthesis is represented. The above-mentioned procedure uses loop-shaping approach and method of the mixed sensitivity. The matrix weighting transfer functions are obtained. The optimization programs in MatLab are developed. The developed procedures are approved based on the results of simulation by means of the appropriate Simulink model. The obtained results can be useful for unmanned aerial vehicles and aircraft of special aviation, which are used for monitoring technical objects and aerial photography. The technical contributions are procedures of the robust controller design represented as the flowchart. The proposed approach is validated by application of the theoretical suppositions to the concrete example and appropriate simulation results.

Sliding mode pressure controller for an electropneumatic brake: Part I—plant model and controller design

2018 ◽  
Vol 232 (5) ◽  
pp. 572-582 ◽  
Author(s):  
Zhuojun Luo ◽  
Mengling Wu ◽  
Jianyong Zuo
Keyword(s):  
Pulse Width Modulation ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Dead Zone ◽  
Plant Model ◽  
Knowledge Based ◽  
Discontinuous Nature ◽  
Reliable Knowledge ◽  
And Control

Instead of using knowledge-based controllers, which need a lot of experience and experimental data to form a reliable knowledge base, a model-based controller is proposed in this article based on a sliding mode control method to control the brake cylinder pressures of an electropneumatic brake on subway trains. The complicated structure of the electropneumatic brake is simplified, and an order-reduced nonlinear model of the plant is built. An equivalently continuous technique based on pulse width modulation is used to deal with the discontinuity of the plant model, which is derived from the discontinuous nature of On/Off valves. The nonlinear sliding mode controller is designed for air charging and discharging periods, respectively. Measures such as continuous approximation and control dead zone are introduced into the controller to improve control performance. This article concerns mainly about the theoretical part of the whole research. Plant parameter identification and controller tests are performed in a sequel article.

INTELLIGENT PASSIVE CONTROL FOR LOWER LIMB REHABILITATION SYSTEM

2013 ◽  
Vol 37 (3) ◽  
pp. 1023-1033 ◽  
Author(s):  
Ming-Shium Hsieh ◽  
Chin-Sheng Chen ◽  
Kuan-Sheng Chien
Keyword(s):  
Passive Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Virtual Work ◽  
External Disturbance ◽  
Angular Position ◽  
Continuous Passive Motion ◽  
Constraint Induced Movement Therapy ◽  
Limb Rehabilitation ◽  
And Control

This paper proposes the design and control of continuous passive motion (CPM) machine based on constraint-induced movement therapy (CIMT). First, the dynamic model of the CPM machine is derived for further controller design by the principal of virtual work. Then, an intelligent sliding-mode control (ISMC) system which involved recurrent Hermite neural network (RHNN) estimator to estimate the unknown external disturbance and uncertainty is proposed to track the angular position and velocity of the CPM machine.

Sign in / Sign up

Export Citation Format

Share Document