The Swirling Pendulum: Conceptualization, Modeling, Equilibria and Control Synthesis

2020 ◽  
Author(s):  
Sujay D. Kadam ◽  
Utsav Shah ◽  
Alrick D’Souza ◽  
Prajwal Gowdru Shanthamurthy ◽  
Nidhish Raj ◽  
...  
Keyword(s):  
Equilibrium Points ◽  
Point Of View ◽  
Control Synthesis ◽  
Test Bed ◽  
Lagrange’S Equation ◽  
Systems And Control ◽  
System Inversion ◽  
And Control ◽  
Two Degree Of Freedom ◽  
Present Simulation

Abstract This paper introduces the swirling pendulum, a two-link, two degree-of-freedom mechanism which is under-actuated and has an unusual non-planar coupling with axis of rotation of the two links being perpendicular to each other. The swirling pendulum mechanism, while being simple to mathematically represent and easy to physically construct, exhibits several properties like loss of inertial coupling, loss of relative degree, multiple stable and unstable equilibrium points. These properties are unique as well as interesting from dynamics and controls point of view which make the swirling pendulum an excellent test-bed for testing various ideas in control and demonstrating several notions associated with systems and control theory. In this paper, we discuss the modeling of the swirling pendulum mechanism based on Lagrange’s equation along with an analysis related to equilibrium points and their stability. We also present simulation results for regulatory as well as tracking control tasks through simulations on a non-linear model using control methods like LQR, lead compensator and system inversion-based control to demonstrate the utility of the proposed mechanism in the area of systems, control and dynamics. Furthermore, we also discuss experimental results for controls applied on a real-time hardware setup.

scholarly journals Stability of Fractional Order Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-14 ◽  
Author(s):  
Margarita Rivero ◽  
Sergei V. Rogosin ◽  
José A. Tenreiro Machado ◽  
Juan J. Trujillo
Keyword(s):  
Fractional Calculus ◽  
Fractional Order ◽  
State Of The Art ◽  
Point Of View ◽  
Fractional Order Systems ◽  
Short Period ◽  
Systems And Control ◽  
Different Types ◽  
The Stability ◽  
And Control

The theory and applications of fractional calculus (FC) had a considerable progress during the last years. Dynamical systems and control are one of the most active areas, and several authors focused on the stability of fractional order systems. Nevertheless, due to the multitude of efforts in a short period of time, contributions are scattered along the literature, and it becomes difficult for researchers to have a complete and systematic picture of the present day knowledge. This paper is an attempt to overcome this situation by reviewing the state of the art and putting this topic in a systematic form. While the problem is formulated with rigour, from the mathematical point of view, the exposition intends to be easy to read by the applied researchers. Different types of systems are considered, namely, linear/nonlinear, positive, with delay, distributed, and continuous/discrete. Several possible routes of future progress that emerge are also tackled.

scholarly journals Multi-objective analysis of Polish domestic power system development from point of view of unmanned factories. A cybernetic issue

2016 ◽  
Vol 65 (3) ◽  
pp. 541-558
Author(s):  
Jerzy Tchórzewski
Keyword(s):  
Control Theory ◽  
Power System ◽  
System Development ◽  
Point Of View ◽  
Objective Analysis ◽  
Design And Development ◽  
Multi Objective ◽  
Systems And Control ◽  
And Control ◽  
Domestic Power

Abstract The paper contains selected results of research on the Domestic Power System (DPS) as an unmanned factory. Models of the DPS system of the MISO type, obtained as a result of identification for 14 inputs and 4 outputs were presented. Particular attention was given to the identification and the assessment of the DPS development based on the systems and control theory. The obtained models of the DPS development were analyzed and discussed. The studies were obtained model of the development of the DPS, and on the basis of is knowledge of the structural and parametrical changes of system development. The model can be used to analyze the design and development of the system from the point of view of the growth of internal organization system and the transition to higher levels of control.

Human Centered Control in Robotics and Consumer Product Design

1993 ◽  
Vol 115 (2B) ◽  
pp. 271-280 ◽  
Author(s):  
Harichiko Asada ◽  
Clifford C. Federspiel ◽  
Sheng Liu
Keyword(s):  
Adaptive Control ◽  
Case Studies ◽  
Control Point ◽  
Point Of View ◽  
Air Conditioner ◽  
Air Conditioners ◽  
Human Needs ◽  
Systems And Control ◽  
Machine Communication ◽  
And Control

Human factors in the control and programming of robots and electric appliances are addressed in this paper. Systems and control techniques for the enhancement of human-machine communication as well as learning and adaptation to human needs are described with exemplary case studies. First, fundamental issues and methodologies, as well as historical perspective of relevant fields, are summarized, and two case studies are then discussed. One is user-adaptable control of air conditioners, a new type of adaptive control that allows an air conditioner to learn the thermal preference of the user. The other is a user-friendly programming method for advanced robot control. A task-level adaptive control system is developed by acquiring control skills by direct communication with human experts. The importance of human-machine communication and its impact on product development are addressed from the systems and control point of view.

DEVELOPMENT OF COMPUTERIZED MONITORING AND CONTROL SYSTEM OF THE MOBILE ROBOT’S POSITIONING ON LARGE FERROMAGNETIC SURFACES BASED ON INTELLIGENT TECHNIQUES. COMPLEX OF TASKS OF MONITORING AND AUTOMATIC CONTROL OF MOBILE

2019 ◽  
pp. 37-47
Author(s):  
Yao Yueqin ◽  
Oleksiy Kozlov ◽  
Oleksandr Gerasin ◽  
Galyna Kondratenko
Keyword(s):  
Automatic Control ◽  
Point Of View ◽  
Monitoring And Control ◽  
Large Area ◽  
Monitoring And Control System ◽  
Technical Parameters ◽  
Automatic Control Systems ◽  
Current State ◽  
Computerized Monitoring ◽  
And Control

Analysis and formalization of the monitoring and automatic control tasks of the MR for the movement and execution of various types of technological operations on inclined and vertical ferromagnetic surfaces are obtained. Generalized structure of mobile robotic complex is shown with main subsystems consideration. Critical analysis of the current state of the problem of development of universal structures of mobile robots (MRs) for the various types of technological operations execution and elaborations of computerized systems for monitoring and control of MR movement is done. In particular, wheeled, walked and crawler type MRs with pneumatic, vacuum-propeller, magnetic and magnetically operated clamping devices to grip with vertical and ceiling surfaces are reviewed. The constructive features of the crawler MR with magnetic clamping devices capable of moving along sloping ferromagnetic surfaces are considered. The basic technical parameters of the MR are shown for the further synthesis of computerized monitoring and automatic control systems. Formalization of the tasks of monitoring and control of the MR positioning at the processing of large area ferromagnetic surfaces is considered from the point of view of control theory.

ABOUT UNIFORMITY OF THE PHENOMENOLOGY AND THE MATHEMATICAL DESCRIPTION OF SO-CALLED « JOINED» ACTION OF HAZARDS AND COMBINED TOXICITY (ON THE EXAMPLE OF A COMBIBATION OF THE FLUORIDE AND THE STATIC MAGNETIC FIELD)

2016 ◽  
pp. 13-20
Author(s):  
B. A. Katsnelson ◽  
M. P. Sutunkova ◽  
N. A. Tsepilov ◽  
V. G. Panov ◽  
A. N. Varaksin ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Static Magnetic Field ◽  
Point Of View ◽  
Whole Body ◽  
Surface Model ◽  
Combined Toxicity ◽  
Fluoride Solution ◽  
Adverse Action ◽  
Biochemical Indices ◽  
And Control

Sodium fluoride solution was injected i.p. to three groups of rats at a dose equivalent to 0.1 LD50 three times a week up to 18 injections. Two out of these groups and two out of three groups were sham-injected with normal saline and were exposed to the whole body impact of a 25 mT static magnetic field (SMF) for 2 or 4 hr a day, 5 times a week. Following the exposure, various functional and biochemical indices were evaluated along with histological examination and morphometric measurements of the femur in the differently exposed and control rats. The mathematical analysis of the combined effects of the SMF and fluoride based on the a response surface model demonstrated that, in full correspondence with what we had previously found for the combined toxicity of different chemicals, the combined adverse action of a chemical plus a physical agent was characterized by a tipological diversity depending not only on particular effects these types were assessed for but on the dose and effect levels as well. From this point of view, the indices for which at least one statistically significant effect was observed could be classified as identifying (I) mainly single-factor action; (II) additive unidirectional action; (III) synergism (superadditive unidirectional action); (IV) antagonism, including both subadditive unidirectional action and all variants of contradirectional action.

Systems and control in Scotland

2001 ◽  
Vol 2001 (1) ◽  
pp. 32-34 ◽  
Author(s):  
Clive Seager
Keyword(s):  
Systems And Control ◽  
And Control

scholarly journals Design and Research on Power Systems and Algorithms for Controlling Electric Underground Mining Machines Powered by Batteries

Energies ◽  
2021 ◽  
Vol 14 (13) ◽  
pp. 4060
Author(s):  
Artur Kozłowski ◽  
Łukasz Bołoz
Keyword(s):  
Power Systems ◽  
Power Supply ◽  
Internal Combustion Engines ◽  
Underground Mining ◽  
Test Stand ◽  
Research Network ◽  
Control Algorithms ◽  
Systems And Control ◽  
And Control ◽  
Supply Systems

This article discusses the work that resulted in the development of two battery-powered self-propelled electric mining machines intended for operation in the conditions of a Polish copper ore mine. Currently, the global mining industry is seeing a growing interest in battery-powered electric machines, which are replacing solutions powered by internal combustion engines. The cooperation of Mine Master, Łukasiewicz Research Network—Institute of Innovative Technologies EMAG and AGH University of Science and Technology allowed carrying out a number of works that resulted in the production of two completely new machines. In order to develop the requirements and assumptions for the designed battery-powered propulsion systems, underground tests of the existing combustion machines were carried out. Based on the results of these tests, power supply systems and control algorithms were developed and verified in a virtual environment. Next, a laboratory test stand for validating power supply systems and control algorithms was developed and constructed. The tests were aimed at checking all possible situations in which the battery gets discharged as a result of the machine’s ride or operation and when it is charged from the mine’s mains or with energy recovered during braking. Simulations of undesirable situations, such as fluctuations in the supply voltage or charging power limitation, were also carried out at the test stand. Positive test results were obtained. Finally, the power supply systems along with control algorithms were implemented and tested in the produced battery-powered machines during operational trials. The power systems and control algorithms are universal enough to be implemented in two different types of machines. Both machines were specially designed to substitute diesel machines in the conditions of a Polish ore mine. They are the lowest underground battery-powered drilling and bolting rigs with onboard chargers. The machines can also be charged by external fast battery chargers.

scholarly journals An Introduction to Development of Centralized and Distributed Stochastic Approximation Algorithm with Expanding Truncations

Algorithms ◽  
2021 ◽  
Vol 14 (6) ◽  
pp. 174
Author(s):  
Wenxiao Zhao
Keyword(s):  
Approximation Algorithm ◽  
Stochastic Approximation ◽  
Probabilistic Method ◽  
Principal Component ◽  
Stochastic Approximation Algorithm ◽  
The Past ◽  
Systems And Control ◽  
Ode Method ◽  
Centralized Algorithm ◽  
And Control

The stochastic approximation algorithm (SAA), starting from the pioneer work by Robbins and Monro in 1950s, has been successfully applied in systems and control, statistics, machine learning, and so forth. In this paper, we will review the development of SAA in China, to be specific, the stochastic approximation algorithm with expanding truncations (SAAWET) developed by Han-Fu Chen and his colleagues during the past 35 years. We first review the historical development for the centralized algorithm including the probabilistic method (PM) and the ordinary differential equation (ODE) method for SAA and the trajectory-subsequence method for SAAWET. Then, we will give an application example of SAAWET to the recursive principal component analysis. We will also introduce the recent progress on SAAWET in a networked and distributed setting, named the distributed SAAWET (DSAAWET).

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