scholarly journals Dynamical Analysis and Stabilizing Control of Inclined Rotational Translational Actuator Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Bingtuan Gao ◽  
Fei Ye
Keyword(s):  
Control Design ◽  
Dynamical Analysis ◽  
Lagrange Equations ◽  
Control Lyapunov Function ◽  
Stabilizing Controller ◽  
Control Techniques ◽  
Stabilizing Control ◽  
Rotor Angle ◽  
General Force ◽  
And Control

Rotational translational actuator (RTAC) system, whose motions occur in horizontal planes, is a benchmark for studying of control techniques. This paper presents dynamical analysis and stabilizing control design for the RTAC system on a slope. Based on Lagrange equations, dynamics of the inclined RTAC system is achieved by selecting cart position and rotor angle as the general coordinates and torque acting on the rotor as general force. The analysis of equilibriums and their controllability yields that controllability of equilibriums depends on inclining direction of the inclined RTAC system. To stabilize the system to its controllable equilibriums, a proper control Lyapunov function including system energy, which is used to show the passivity property of the system, is designed. Consequently, a stabilizing controller is achieved directly based on the second Lyapunov stability theorem. Finally, numerical simulations are performed to verify the correctness and feasibility of our dynamical analysis and control design.

Orbitally stabilizing control for the underactuated translational oscillator with rotational actuator system: Design and experimentation

2018 ◽  
Vol 233 (5) ◽  
pp. 491-500 ◽  
Author(s):  
Chuande Liu ◽  
Bingtuan Gao ◽  
Jianguo Zhao ◽  
Syed Awais Ali Shah
Keyword(s):  
Control Strategy ◽  
Equilibrium Points ◽  
Research Work ◽  
Sustained Oscillation ◽  
Mechatronic Systems ◽  
Control Lyapunov Function ◽  
Stabilizing Controller ◽  
Stabilizing Control ◽  
Actuator System ◽  
Rotational Actuator

Underactuated translational oscillator with rotational actuator systems are simplified mechatronic systems introduced to investigate the despin maneuver phenomenon for dual-spin spacecrafts in mechanical engineering. The conventional research work for translational oscillator with rotational actuator systems mainly focuses on stabilizing control of equilibrium points. In this article, an orbitally stabilizing control strategy is proposed to steer oscillating movements of a translational oscillator with rotational actuator system. Based on the natural periodicity of translational oscillator with rotational actuator system self-sustained oscillation, the dynamics is analyzed to derive the periodically orbital functions of the translational oscillator with rotational actuator system. Then, a proper control Lyapunov function following the principle of energy conservation is designed to obtain orbitally stabilizing controller for target periodical oscillation orbits of the translational oscillator with rotational actuator system. Finally, the validity of the presented control strategy is demonstrated via the simulations and experiments.

scholarly journals Simultaneous Piezoelectric Actuator and Sensor Placement Optimization and Control Design of Manipulators with Flexible Links Using SDRE Method

2010 ◽  
Vol 2010 ◽  
pp. 1-23 ◽  
Author(s):  
Alexandre Molter ◽  
Otávio A. Alves da Silveira ◽  
Jun S. Ono Fonseca ◽  
Valdecir Bottega
Keyword(s):  
Finite Element ◽  
Piezoelectric Actuator ◽  
Control Design ◽  
Piezoelectric Actuators ◽  
Mode Shapes ◽  
Nonlinear Feedback ◽  
Lagrange Equations ◽  
State Dependent ◽  
Optimization And Control ◽  
And Control

This paper presents a control design for flexible manipulators using piezoelectric actuators bonded on nonprismatic links. The dynamic model of the manipulator is obtained in a closed form through the Lagrange equations. Each link is discretized using finite element modal formulation based on Euler-Bernoulli beam theory. The control uses the motor torques and piezoelectric actuators for controlling vibrations. An optimization problem with genetic algorithm (GA) is formulated for the location and size of the piezoelectric actuator and sensor on the links. The natural frequencies and mode shapes are computed by the finite element method, and the irregular beam geometry is approximated by piecewise prismatic elements. The State-Dependent Riccati Equation (SDRE) technique is used to derive a suboptimal controller for a robot control problem. A state-dependent equation is solved at each new point obtained for the variables from the problem, along the trajectory to obtain a nonlinear feedback controller. Numerical tests verify the efficiency of the proposed optimization and control design.

PROJECT ON ELECTRONIC STEERING SYSYTEM

2018 ◽  
Vol 4 (5) ◽  
pp. 7
Author(s):  
Shivam Dwivedi ◽  
Prof. Vikas Gupta
Keyword(s):  
Steering System ◽  
Essential Elements ◽  
Variable Pressure ◽  
Passenger Cars ◽  
Control Techniques ◽  
Steering Mechanism ◽  
Dynamics And Control ◽  
Active Research ◽  
Electronic Steering ◽  
And Control

As the four-wheel steering (4WS) system has great potentials, many researchers' attention was attracted to this technique and active research was made. As a result, passenger cars equipped with 4WS systems were put on the market a few years ago. This report tries to identify the essential elements of the 4WS technology in terms of vehicle dynamics and control techniques. Based on the findings of this investigation, the report gives a mechanism of electronically controlling the steering system depending on the variable pressure applied on it. This enhances the controlling and smoothens the operation of steering mechanism.

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