Robust Wide-Range Controller Using Multirate Estimation and Control for Velocity Regulation and Tracking

1996 ◽  
pp. 301-314 ◽  
Author(s):  
Anthony M. Phillips ◽  
Masayoshi Tomizuka
Keyword(s):  
Wide Range ◽  
Estimation And Control ◽  
Regulation And Tracking ◽  
And Control

scholarly journals Nonlinear Finite-Horizon Regulation and Tracking for Systems with Incomplete State Information Using Differential State Dependent Riccati Equation

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Ahmed Khamis ◽  
D. Subbaram Naidu ◽  
Ahmed M. Kamel
Keyword(s):  
Riccati Equation ◽  
Stochastic Systems ◽  
Finite Horizon ◽  
Guidance System ◽  
State Dependent ◽  
Wide Range ◽  
Linearized System ◽  
Estimation And Control ◽  
Regulation And Tracking ◽  
And Control

This paper presents an efficient online technique used for finite-horizon, nonlinear, stochastic, regulator, and tracking problems. This can be accomplished by the integration of the differential SDRE filter algorithm and the finite-horizon state dependent Riccati equation (SDRE) technique. Unlike the previous methods which deal with the linearized system, this technique provides finite-horizon estimation and control of the nonlinear stochastic systems. Further, the proposed technique is effective for a wide range of operating points. Simulation results of a missile guidance system are presented to illustrate the effectiveness of the proposed technique.

On Combustion Invariants for MBT Timing Estimation and Control

2004 ◽  
Author(s):  
Ibrahim Haskara ◽  
Guoming G. Zhu ◽  
Chao F. Daniels ◽  
Jim Winkelman
Keyword(s):  
Engine Speed ◽  
Pressure Measurements ◽  
Rate Analysis ◽  
Timing Estimation ◽  
Spark Timing ◽  
Wide Range ◽  
Estimation And Control ◽  
Burn Rate ◽  
And Control ◽  
Control Criterion

An MBT timing control criterion has been studied through burn rate analysis using pressure measurements. The optimal spark timing which maximizes the power output mainly depends on engine speed, load and mixture composition among others. A combustion invariant at MBT timing is sought to characterize the MBT combustion. Specifically, it has been shown that the maximum mass fraction acceleration point occurs around TDC at MBT timing by analytically processing the wide range spark sweep data.

scholarly journals A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots

2021 ◽  
pp. 1-10
Author(s):  
Chao Liu ◽  
Tarik Tosun ◽  
Mark Yim
Keyword(s):  
Low Cost ◽  
Complete Solution ◽  
Position Estimation ◽  
Modular Robots ◽  
Position Sensor ◽  
Position Sensing ◽  
Wide Range ◽  
Accurate Position ◽  
Estimation And Control ◽  
And Control

Abstract Accurate position sensing is important for state estimation and control in robotics. Reliable and accurate position sensors are usually expensive and difficult to customize. Incorporating them into systems that have very tight volume constraints such as modular robots are particularly difficult. PaintPots are a low-cost, reliable, and highly customizable position sensor, but their performance is highly dependent on the manufacturing and calibration process. This paper presents a Kalman Filter with a simplified observation model developed to deal with the nonlinearity issues that result from the use of low-cost microcontrollers. In addition, a complete solution for the use of PaintPots in a variety of sensing modalities including manufacturing, characterization, and estimation is presented for an example modular robot, SMORES-EP. This solution can be easily adapted to a wide range of applications.

THE SOME QUESTIONS OF AUTONOMOUS MOTION AND MANAGEMENT OF LAND-MOBILE ROBOTIC COMPLEXES FOR UKRAINIAN GROUND FORCESE

2019 ◽  
pp. 53-58
Author(s):  
О. Кravchuk ◽  
V. Symonenkov ◽  
I. Symonenkova ◽  
O. Hryhorev
Keyword(s):  
Large Scale ◽  
Armed Forces ◽  
Distributed Information ◽  
Wide Range ◽  
Highly Effective ◽  
Information Management Systems ◽  
Robotic Devices ◽  
Principles And Standards ◽  
And Control ◽  
The Eu

Today, more than forty countries of the world are engaged in the development of military-purpose robots. A number of unique mobile robots with a wide range of capabilities are already being used by combat and intelligence units of the Armed forces of the developed world countries to conduct battlefield intelligence and support tactical groups. At present, the issue of using the latest information technology in the field of military robotics is thoroughly investigated, and the creation of highly effective information management systems in the land-mobile robotic complexes has acquired a new phase associated with the use of distributed information and sensory systems and consists in the transition from application of separate sensors and devices to the construction of modular information subsystems, which provide the availability of various data sources and complex methods of information processing. The purpose of the article is to investigate the ways to increase the autonomy of the land-mobile robotic complexes using in a non-deterministic conditions of modern combat. Relevance of researches is connected with the necessity of creation of highly effective information and control systems in the perspective robotic means for the needs of Land Forces of Ukraine. The development of the Armed Forces of Ukraine management system based on the criteria adopted by the EU and NATO member states is one of the main directions of increasing the effectiveness of the use of forces (forces), which involves achieving the principles and standards necessary for Ukraine to become a member of the EU and NATO. The inherent features of achieving these criteria will be the transition to a reduction of tasks of the combined-arms units and the large-scale use of high-precision weapons and land remote-controlled robotic devices. According to the views of the leading specialists in the field of robotics, the automation of information subsystems and components of the land-mobile robotic complexes can increase safety, reliability, error-tolerance and the effectiveness of the use of robotic means by standardizing the necessary actions with minimal human intervention, that is, a significant increase in the autonomy of the land-mobile robotic complexes for the needs of Land Forces of Ukraine.

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