scholarly journals The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Dewei Zhang ◽  
Hui Qi ◽  
Xiande Wu ◽  
Yaen Xie ◽  
Jiangtao Xu
Keyword(s):  
Target Tracking ◽  
Dynamic Model ◽  
Nonlinear Dynamic ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Control Method ◽  
Measurement Unit ◽  
Control Algorithms ◽  
Nonlinear Dynamic Model ◽  
And Control

A reliable nonlinear dynamic model of the quadrotor is presented. The nonlinear dynamic model includes actuator dynamic and aerodynamic effect. Since the rotors run near a constant hovering speed, the dynamic model is simplified at hovering operating point. Based on the simplified nonlinear dynamic model, the PID controllers with feedback linearization and feedforward control are proposed using the backstepping method. These controllers are used to control both the attitude and position of the quadrotor. A fully custom quadrotor is developed to verify the correctness of the dynamic model and control algorithms. The attitude of the quadrotor is measured by inertia measurement unit (IMU). The position of the quadrotor in a GPS-denied environment, especially indoor environment, is estimated from the downward camera and ultrasonic sensor measurements. The validity and effectiveness of the proposed dynamic model and control algorithms are demonstrated by experimental results. It is shown that the vehicle achieves robust vision-based hovering and moving target tracking control.

scholarly journals Dynamic Modeling and Control of Electromechanical Coupling for Mechanical Elastic Energy Storage System

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Yang Yu ◽  
Zengqiang Mi
Keyword(s):  
Energy Storage ◽  
Dynamic Model ◽  
Elastic Energy ◽  
Nonlinear Dynamic ◽  
Feedback Linearization ◽  
Electromechanical Coupling ◽  
Storage System ◽  
Electromechanical System ◽  
Nonlinear Dynamic Model ◽  
And Control

The structural scheme of mechanical elastic energy storage (MEES) system served by permanent magnet synchronous motor (PMSM) and bidirectional converters is designed. The aim of the research is to model and control the complex electromechanical system. The mechanical device of the complex system is considered as a node in generalized coordinate system, the terse nonlinear dynamic model of electromechanical coupling for the electromechanical system is constructed through Lagrange-Maxwell energy method, and the detailed deduction of the mathematical model is presented in the paper. The theory of direct feedback linearization (DFL) is applied to decouple the nonlinear dynamic model and convert the developed model from nonlinear to linear. The optimal control theory is utilized to accomplish speed tracking control for the linearized system. The simulation results in three different cases show that the proposed nonlinear dynamic model of MEES system is correct; the designed algorithm has a better control performance in contrast with the conventional PI control.

Complexity of Nonlinear Dynamic Outputs Model in the Electricity Triopoly

2014 ◽  
Vol 1008-1009 ◽  
pp. 1395-1398
Author(s):  
Wei Zhuo Ji
Keyword(s):  
Electric Power ◽  
Dynamic Model ◽  
Nonlinear Dynamic ◽  
Chaos Control ◽  
Control Method ◽  
Repeated Game ◽  
Game Model ◽  
Nonlinear Feedback ◽  
Nonlinear Dynamic Model

A dynamic repeated model has been established in electric power Triopoly. The chaos and density cycling of the nonlinear dynamic model are investigated in detail. The nonlinear feedback chaos control method is successfully applied to the dynamic repeated game model.

scholarly journals Modeling and Control of a Six Degrees of Freedom Maglev Vibration Isolation System

Sensors ◽  
2019 ◽  
Vol 19 (16) ◽  
pp. 3608 ◽  
Author(s):  
Qianqian Wu ◽  
Ning Cui ◽  
Sifang Zhao ◽  
Hongbo Zhang ◽  
Bilong Liu
Keyword(s):  
Dynamic Model ◽  
Nonlinear Dynamic ◽  
Degrees Of Freedom ◽  
Vibration Isolation ◽  
Nonlinear Dynamic Model ◽  
Isolation System ◽  
Vibration Isolation System ◽  
Modeling And Control ◽  
And Control ◽  
Isolation Performance

The environment in space provides favorable conditions for space missions. However, low frequency vibration poses a great challenge to high sensitivity equipment, resulting in performance degradation of sensitive systems. Due to the ever-increasing requirements to protect sensitive payloads, there is a pressing need for micro-vibration suppression. This paper deals with the modeling and control of a maglev vibration isolation system. A high-precision nonlinear dynamic model with six degrees of freedom was derived, which contains the mathematical model of Lorentz actuators and umbilical cables. Regarding the system performance, a double closed-loop control strategy was proposed, and a sliding mode control algorithm was adopted to improve the vibration isolation performance. A simulation program of the system was developed in a MATLAB environment. A vibration isolation performance in the frequency range of 0.01–100 Hz and a tracking performance below 0.01 Hz were obtained. In order to verify the nonlinear dynamic model and the isolation performance, a principle prototype of the maglev isolation system equipped with accelerometers and position sensors was developed for the experiments. By comparing the simulation results and the experiment results, the nonlinear dynamic model of the maglev vibration isolation system was verified and the control strategy of the system was proved to be highly effective.

CONTROL OF OBJECTS OF OIL REFINING MODEL

2017 ◽  
pp. 78-82
Author(s):  
L. G. Tugashova ◽  
K. L. Gorshkova
Keyword(s):  
Genetic Algorithm ◽  
Regression Model ◽  
Dynamic Model ◽  
Nonlinear Dynamic ◽  
Control Model ◽  
Oil Refining ◽  
Nonlinear Dynamic Model ◽  
Control Actions ◽  
Main Components ◽  
And Control

The approaches to improve the management of processes of oil refining. The description of the control model and the adjustment of the coefficients of the controller by using genetic algorithm. Selected basic adjustable parameters and control actions. The main components of the control circuit for the models are: limitations of the regression model, nonlinear dynamic model, the unit of optimization.

Feedback Linearization Based Generalized Predictive Control of Jupiter Icy Moons Orbiter

2008 ◽  
Vol 131 (1) ◽  
Author(s):  
Jianjun Shi ◽  
Atul G. Kelkar
Keyword(s):  
Dynamic Model ◽  
Predictive Control ◽  
Attitude Control ◽  
Nonlinear Dynamic ◽  
Feedback Linearization ◽  
Hybrid Control ◽  
Generalized Predictive Control ◽  
Concept Design ◽  
Nonlinear Dynamic Model ◽  
Icy Moons

This paper presents a nonlinear dynamic model of Jupiter Icy Moons Orbiter (JIMO), a concept design of a spacecraft intended to orbit the three icy moons of Jupiter, namely, Europa, Ganymede, and Callisto. The work in this paper represents a part of the feasibility study conducted to assess control requirements for the JIMO mission. A nonlinear dynamic model of JIMO is derived, which includes rigid body as well as flexible body dynamics. This paper presents a novel hybrid control strategy, which combines feedback linearization with generalized predictive control methodology in a two-step approach for attitude control of the spacecraft. This feedback linearization based generalized predictive control (FLGPC) law is used to accomplish a representative realistic in-orbit maneuver to test the efficacy of the controller. The controller performance shows that the FLGPC is a viable methodology for attitude control of a similar class of spacecraft. The results presented are a part of exhaustive study conducted to evaluate various controller designs.

Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness

2008 ◽  
Vol 3 (3) ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal ◽  
Jaume Franch
Keyword(s):  
Motion Planning ◽  
Dynamic Model ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Differential Flatness ◽  
Dynamic Feedback ◽  
Basic Approach ◽  
Planning And Control ◽  
Simulation Results ◽  
And Control

This paper presents a methodology for trajectory planning and tracking control of a tractor with a steerable trailer based on the system’s dynamic model. The theory of differential flatness is used as the basic approach in these developments. Flat outputs are found that linearize the system’s dynamic model using dynamic feedback linearization, a subclass of differential flatness. It is demonstrated that this property considerably simplifies motion planning and the development of controller. Simulation results are presented in the paper, which show that the developed controller has the desirable performance with exponential stability.

Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness

2007 ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal ◽  
Jaume Franch
Keyword(s):  
Motion Planning ◽  
Dynamic Model ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Differential Flatness ◽  
Dynamic Feedback ◽  
Basic Approach ◽  
Planning And Control ◽  
Simulation Results ◽  
And Control

This paper presents a methodology for trajectory planning and tracking control of a tractor with a steerable trailer based on the system’s dynamic model. The theory of differential flatness is used as the basic approach in these developments. Flat outputs are found that linearize the system’s dynamic model using dynamic feedback linearization, a subclass of differential flatness. It is demonstrated that this property considerably simplifies motion planning and the development of controller. Simulation results are presented in the paper, which show that the developed controller has the desirable performance with exponential stability.

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