scholarly journals TRACKING CONTROL OF COMPLEMENTARITY LAGRANGIAN SYSTEMS

2005 ◽  
Vol 15 (06) ◽  
pp. 1839-1866 ◽  
Author(s):  
JEAN-MATTHIEU BOURGEOT ◽  
BERNARD BROGLIATO
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Lagrangian Systems ◽  
Unilateral Constraints ◽  
Multiple Impacts ◽  
Dynamical Feature ◽  
Control Signals ◽  
The Difference ◽  
The Stability ◽  
And Control

In this paper we study the tracking control of Lagrangian systems subject to frictionless unilateral constraints. The stability analysis incorporates the hybrid and nonsmooth dynamical feature of the overall system. The difference between tracking control for unconstrained systems and unilaterally constrained ones, is explained in terms of closed-loop desired trajectories and control signals. This work provides details on the conditions of existence of controllers which guarantee stability. It is shown that the design of a suitable transition phase desired trajectory, is a crucial step. Some simulation results provide information on the robustness aspects. Finally the extension towards the case of multiple impacts, is considered.

Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling

2020 ◽  
pp. 014233122097313
Author(s):  
Yiqi Xu
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Inertia Model ◽  
And Performance ◽  
Attitude Tracking Control ◽  
The Stability

This paper studies the attitude-tracking control problem of spacecraft considering on-orbit refuelling. A time-varying inertia model is developed for spacecraft on-orbit refuelling, which actually includes two processes: fuel in the transfer pipe and fuel in the tank. Based upon the inertia model, an adaptive attitude-tracking controller is derived to guarantee the stability of the resulted closed-loop system, as well as asymptotic convergence of the attitude-tracking errors, despite performing refuelling operations. Finally, numerical simulations illustrate the effectiveness and performance of the proposed control scheme.

scholarly journals Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Jawhar Ghommam ◽  
Luis F. Luque-Vega ◽  
Maarouf Saad
Keyword(s):  
Collision Avoidance ◽  
Tracking Control ◽  
Formation Control ◽  
Closed Loop ◽  
Group Formation ◽  
Closed Loop System ◽  
Relative Localization ◽  
Formation Pattern ◽  
Set Up ◽  
The Stability

In this paper, group formation control with collision avoidance is investigated for heterogeneous multiquadrotor vehicles. Specifically, the distance-based formation and tracking control problem are addressed in the framework of leader-follower architecture. In this scheme, the leader is assigned the task of intercepting a target whose velocity is unknown, while the follower quadrotors are arranged to set up a predefined rigid formation pattern, ensuring simultaneously interagent collision avoidance and relative localization. The adopted strategy for the control design consists in decoupling the quadrotor dynamics in a cascaded structure to handle its underactuated property. Furthermore, by imposing constraints on the orientation angles, the follower will never be overturned. Rigorous stability analysis is presented to prove the stability of the entire closed-loop system. Numerical simulation results are presented to validate the proposed control strategy.

Stability and constrained control for positive two-dimensional systems with delays in the second FM model

2018 ◽  
Vol 36 (2) ◽  
pp. 515-536
Author(s):  
Jian Shen ◽  
Weiqun Wang
Keyword(s):  
Closed Loop ◽  
Sufficient Conditions ◽  
Multiple Delays ◽  
Two Dimensional ◽  
Bounded Control ◽  
Delayed Systems ◽  
Closed Loop Systems ◽  
The Stability ◽  
And Control ◽  
Time Systems

Abstract This paper addresses the stability and control problem of linear positive two-dimensional discrete-time systems with multiple delays in the second Fornasini–Marchesini model. The contribution lies in three aspects. First, a novel proof is provided to establish necessary and sufficient conditions of asymptotic stability for positive two-dimensional delayed systems. Then, a state-feedback controller is designed to ensure the non-negativity and stability of the closed-loop systems. Finally, a sufficient condition for the existence of constrained controllers is developed under the additional constraint of bounded control, which means that the control inputs and the states of the closed-loop systems are bounded. Two examples are given to validate the proposed methods.

Design of Materials and Mechanisms for Responsive Robots

2018 ◽  
Vol 1 (1) ◽  
pp. 359-384 ◽  
Author(s):  
Elliot W. Hawkes ◽  
Mark R. Cutkosky
Keyword(s):  
Genetic Algorithms ◽  
Energy Storage ◽  
Environmental Conditions ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Open Loop ◽  
Challenging Problem ◽  
Manufacturing Applications ◽  
The Stability ◽  
And Control

As robots move beyond manufacturing applications to less predictable environments, they can increasingly benefit, as animals do, from integrating sensing and control with the passive properties provided by particular combinations and arrangements of materials and mechanisms. This realization is partly responsible for the recent proliferation of soft and bioinspired robots. Tuned materials and mechanisms can provide several kinds of benefits, including energy storage and recovery, increased physical robustness, and decreased response time to sudden events. In addition, they may offer passive open-loop behaviors and responses to external changes in loading or environmental conditions. Collectively, these properties can also increase the stability of a robot as it interacts with the environment and allow the closed-loop controller to reduce the apparent degrees of freedom subject to control. The design of appropriate materials and mechanisms remains a challenging problem; bioinspiration, genetic algorithms, and numerical shape and materials optimization are all applicable. New multimaterial fabrication processes are also steadily increasing the range and magnitude of passive properties available for intrinsically responsive robots.

Tracking control for the helicopter with time-varying disturbance and input stochastic perturbation

2019 ◽  
Vol 234 (4) ◽  
pp. 961-976
Author(s):  
Yankai Li ◽  
Mou Chen ◽  
Tao Li ◽  
Huijiao Wang
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Controller Design ◽  
Stochastic Perturbation ◽  
Linear Matrix ◽  
Time Varying ◽  
Inequality Technique ◽  
Error System ◽  
Feedforward Controller ◽  
The Stability

In this paper, the tracking control problem is investigated for the helicopter under time-varying disturbance, input stochastic perturbation, and unmeasurable flapping motion states. Firstly, a state observer and a disturbance observer are constructed to estimate the unmeasurable states and the time-varying disturbance, and the estimation of the disturbance is used in the feedforward controller design. Secondly, under the input stochastic perturbation, a feedback controller is constructed to guarantee the stochastic stability of the closed-loop error system. Using the stochastic control theory and the linear matrix inequality technique, the stability of the closed-loop error system is analyzed, and the gain of the controller is acquired via a solvable sufficient condition. Finally, an example is presented to illustrate the effectiveness of the proposed method.

scholarly journals Bounded Attitude Control with Active Disturbance Rejection Capabilities for Multirotor UAVs

2021 ◽  
Vol 11 (13) ◽  
pp. 5960
Author(s):  
José Fermi Guerrero-Castellanos ◽  
Sylvain Durand ◽  
German Ardul Munoz-Hernandez ◽  
Nicolas Marchand ◽  
Lorenzo L. González Romeo ◽  
...  
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Closed Loop ◽  
Control Law ◽  
Active Disturbance Rejection ◽  
Attitude Tracking ◽  
Exogenous Disturbances ◽  
Attitude Tracking Control ◽  
The Stability

This paper addresses an attitude tracking control design applied to multirotor unmanned aerial vehicles (UAVs) based on an ADRC approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, and then this is estimated online via an extended state observer (ESO). Further, a quaternion-based feedback is developed, which is assisted by a feedforward term obtained via the ESO to relieve the total disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators to reject the disturbances. The stability is analyzed in the ISS framework, guaranteeing that the closed loop (controller-ESO-UAV) is robustly stable. The simulation results allow validation of the theoretical features.

scholarly journals Aplikasi Filter KALMAN Pada Gerak Matra Longitudinal Pesawat Udara Boeing-747

2019 ◽  
Vol 23 (4) ◽  
pp. 362
Author(s):  
Sayuti Syamsuar
Keyword(s):  
Kalman Filter ◽  
Control System ◽  
Closed Loop ◽  
Flight Test ◽  
Loop Control ◽  
Output Response ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
The Stability ◽  
And Control

Many of aircraft perfonnance became from the stability and control of flight test data analysis. This paper introduces the Kalman Filter analysis on the Boeing 747 data aircraft to knawn the output response if disturbance (as turbulence or noise) absence on the closed loop control system. We found the output response of the plant on algorithm Kalman Filter tend to the unstable conditions, but we don't knaw the response of the whole of closed loop diagram block control system of Boeing 747 aircraft.Keywords : aircraft control system, turbulence, Kalman Filter

scholarly journals Control robusto de la actitud para el seguimiento de trayectoria de un VANT

2020 ◽  
pp. 35-41
Author(s):  
Juan Diaz-Tellez ◽  
Jaime Estevez-Carreón ◽  
Alejandro Silva-Juárez ◽  
Rubén Senén García-Ramírez
Keyword(s):  
Disturbance Rejection ◽  
Tracking Control ◽  
Control Law ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Tracking ◽  
Exogenous Disturbances ◽  
Attitude Tracking Control ◽  
The Stability ◽  
And Control

This paper proposes a robust attitude tracking control applied to Vertical Take-off and Landing Micro Aerial Vehicles (VANT) based on Active Disturbance Rejection Control (ADRC) approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, which is estimated online via extended state observer (ESO). Once the disturbance is determined, a quaternion-based controller is proposed, which compensates and relieves the disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators. The stability proof of the closed-loop (observer and control) is guaranteed in the ISS sense. The simulation results allow validating the theoretical features.

scholarly journals Adaptive Output Tracking Control for Nonlinear Systems with Failed Actuators and Aircraft Flight System Applications

2015 ◽  
Vol 2015 ◽  
pp. 1-14
Author(s):  
Chuanjing Hou ◽  
Lisheng Hu ◽  
Yingwei Zhang
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Closed Loop ◽  
High Gain ◽  
Compensation Scheme ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Output Tracking ◽  
Output Tracking Control ◽  
The Stability

An adaptive failure compensation scheme using output feedback is proposed for a class of nonlinear systems with nonlinearities depending on the unmeasured states of systems. Adaptive high-gain K-filters are presented to suppress the nonlinearities while the proposed backstepping adaptive high-gain controller guarantees the stability of the closed-loop system and small tracking errors. Simulation results verify that the adaptive failure compensation scheme is effective.

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