Distributed Control of a Planar Discrete Elastic Rod Model for Caterpillar-Inspired Locomotion

2019 ◽  
Author(s):  
Helene Nguewou-Hyousse ◽  
William L. Scott ◽  
Derek A. Paley
Keyword(s):  
Feedback Control ◽  
Distributed Control ◽  
Nearest Neighbor ◽  
Traveling Wave Solutions ◽  
Robotic Systems ◽  
Elastic Rod ◽  
Control Laws ◽  
Simulation Results ◽  
Feedback Laws ◽  
Elastic Rod Model

Abstract During crawling, a caterpillar body stretches and bends, and a wave repeatedly travels from the tail to the head. Recently, caterpillar locomotion has been modeled using the theory of planar discrete elastic rods (PDER). This work takes a similar modeling approach and introduces feedback control laws with communication between neighboring segments. Caterpillar locomotion is modeled first as a network of spring-mass-dampers connected through nearest neighbor interactions and then as a network of linked torsional springs. Feedback laws are designed to achieve consensus and traveling wave solutions. Simulation results show the displacement of each segment of a caterpillar during locomotion. These results show promise for the design of feedback control laws in a network model of soft robotic systems.

scholarly journals Output Regulation of the Pan System

2011 ◽  
Vol 2011 ◽  
pp. 1-11 ◽  
Author(s):  
V. Sundarapandian
Keyword(s):  
Feedback Control ◽  
Secure Communication ◽  
State Feedback ◽  
Three Dimensional ◽  
Output Regulation ◽  
State Feedback Control ◽  
Chaotic Attractors ◽  
Control Laws ◽  
Potential Applications ◽  
Simulation Results

We solve the problem of regulating the output of the Pan system (2010), which is one of the recently discovered three-dimensional chaotic attractors. Pan system has many interesting complex dynamical behaviours, and it has potential applications in secure communication. In this paper, we construct explicit state feedback control laws for regulating the output of the Pan system so as to track constant reference signals. The state feedback control laws are derived using the regulator equations of Byrnes and Isidori (1990). The simulation results are provided to illustrate the effectiveness of the regulation schemes derived for the output regulation of the Pan system.

Output Regulation of the Liu Chaotic System

2011 ◽  
Vol 110-116 ◽  
pp. 3982-3989 ◽  
Author(s):  
Vaidyanathan Sundarapandian
Keyword(s):  
Feedback Control ◽  
Control Systems ◽  
Chaotic System ◽  
State Feedback ◽  
Output Regulation ◽  
State Feedback Control ◽  
Nonlinear Control Systems ◽  
Control Laws ◽  
Reference Signals ◽  
Simulation Results

This paper investigates the problem of regulating the output of the Liu chaotic system (2004). Explicitly, we construct state feedback control laws to regulate the Liu chaotic system so as to track constant reference signals. The control laws are derived using the regulator equations of Byrnes and Isidori (1990), who have solved the output regulation of nonlinear control systems using neutrally stable exosystem dynamics. The simulation results are also discussed in detail.

Distributed Control of Spacecraft Formation Using Improved Cyclic Pursuit with Beacon Guidance

2011 ◽  
Vol 138-139 ◽  
pp. 38-43 ◽  
Author(s):  
Hui Xin Yang ◽  
Xi Xiang Yang ◽  
Wei Hua Zhang
Keyword(s):  
Distributed Control ◽  
Mathematical Theory ◽  
Space Missions ◽  
Control Policies ◽  
Control Laws ◽  
Simple Idea ◽  
Spacecraft Formation ◽  
Cyclic Pursuit ◽  
Simulation Results ◽  
Relative Measurements

Distributed control based on the cyclic pursuit strategies has been of much interest recently. This paper presents distributed control policies based on the simple idea of cyclic pursuit which only require relative measurements of position and velocity of neighbors. First, we study the mathematical theory of cyclic pursuit algorithm. Second, we present Virtual Beacon Guidance is integrated to improve the existing cyclic pursuit strategies to deduce a method of Cyclic Pursuit & Beacon Guidance. Finally, we assume two space missions to prove that the control laws can meet with satellites formation autonomous reconfiguration in various patterns. To this end, the formation can get reconfiguration and reorientation simultaneously. In particular, the mission of convergence to cyclic trajectory with the radius extended is proven by analysis and simulation results.

Fractal analysis and control of the competition model

2016 ◽  
Vol 09 (03) ◽  
pp. 1650045 ◽  
Author(s):  
Mianmian Zhang ◽  
Yongping Zhang
Keyword(s):  
Feedback Control ◽  
Mathematical Models ◽  
Fractal Analysis ◽  
Fractal Geometry ◽  
Julia Set ◽  
Julia Sets ◽  
Competition Model ◽  
Simulation Results ◽  
Population Competition ◽  
And Control

Lotka–Volterra population competition model plays an important role in mathematical models. In this paper, Julia set of the competition model is introduced by use of the ideas and methods of Julia set in fractal geometry. Then feedback control is taken on the Julia set of the model. And synchronization of two different Julia sets of the model with different parameters is discussed, which makes one Julia set change to be another. The simulation results show the efficacy of these methods.

Effect of Input Shaping on Response of Inertia Plants

2011 ◽  
Vol 121-126 ◽  
pp. 2676-2680
Author(s):  
Ming Xiao Dong ◽  
Rui Chuan Li ◽  
Qin Zu Xu
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Control Systems ◽  
Setting Time ◽  
Input Shaping ◽  
Pd Controller ◽  
Residual Vibration ◽  
Simulation Results ◽  
Analytical Expressions ◽  
Input Shaping Control

A poorly designed control system can lead to excessive residual vibration and long setting time. This paper investigates the effect of input shaping on control efficiency. To perform this investigation, we design a PD controller combined with input shaping for an inertia plant. We then subject it to four standard types of inputs. The responses of the control systems are described by analytical expressions. The performances of PD control and PD combined with input-shaping control are thoroughly analyzed and compared. Simulation results show that PD feedback control enhanced with input shaping minimizes overshoot and setting time.

Elastic Rod Based Carpet Loop Pile Trajectory Simulation

2013 ◽  
Vol 680 ◽  
pp. 392-397
Author(s):  
Guang Feng Chen ◽  
Qing Qing Huang ◽  
Lin Lin Zhai ◽  
Qing Qing Li
Keyword(s):  
3D Simulation ◽  
Elastic Rod ◽  
Trajectory Simulation ◽  
Stress Deformation ◽  
Simulation Results

The 3D simulation of tufted carpet pile loops need to calculate the direction loop pile. By simplifying the tufted carpet yarn into elongated elastic rod, without considering the extrusion between loops piles, applying pressure at both ends of loop pile. By analyzing the elastic rod stress deformation and using Matlab simulate to determine the yarn centerline direction with the flexible line. The simulation results show that the obtained yarn centerline path is consistent with the trend of actual loop pile.

Decentralized Exergy/Entropy Thermodynamic Control for Collective Robotic Systems

2007 ◽  
Author(s):  
Rush D. Robinett ◽  
David G. Wilson
Keyword(s):  
Decentralized Control ◽  
Direct Method ◽  
Robotic Systems ◽  
Control Law ◽  
Thermodynamic Control ◽  
Order Accuracy ◽  
Control Laws ◽  
Vector Lyapunov Function ◽  
Collective Control ◽  
Plume Tracing

This paper develops a distributed decentralized control law for collective robotic systems. The control laws are developed based on exergy/entropy thermodynamic concepts and information theory. The source field is characterized through second-order accuracy. The proposed feedback control law stability for both the collective and individual robots are demonstrated by selecting a general Hamiltonian based solution developed as Fisher Information Equivalency as the vector Lyapunov function. Stability boundaries and system performance are then determined with Lyapunov’s direct method. A robot collective plume tracing numerical simulation example demonstrates this decentralized exergy/entropy collective control architecture.

CAT III Autoland Control Laws Design Based on Multi-Objective Optimization

2012 ◽  
Vol 452-453 ◽  
pp. 548-552 ◽  
Author(s):  
Hui Jie Li ◽  
Ling Yu Yang ◽  
Gong Zhang Shen
Keyword(s):  
Monte Carlo Simulation ◽  
Monte Carlo ◽  
Multi Objective Optimization ◽  
Control Laws ◽  
Multi Objective ◽  
Automatic Landing ◽  
Simulation Results ◽  
Free Parameters ◽  
Structure Measurement ◽  
Landing Control

The CAT III longitudinal automatic landing control laws based on multi-objective optimization is discussed. Firstly summarized the CAT III airworthiness criteria and transformed into the specifications of control system. The configuration of the longitudinal automatic landing controllers is proposed secondly and multi-objective optimization is used to tradeoff free parameters of the controllers. The Monte Carlo simulation results show the designed control laws fulfill the CAT III requirements, when there are uncertainties of structure, measurement error and disturbances.

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