scholarly journals Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shanshan Du ◽  
Heping Chen ◽  
Yong Liu ◽  
Runting Hu
Keyword(s):  
Animal Behavior ◽  
Position Control ◽  
Control Method ◽  
Impedance Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Control Methods ◽  
Prior Work ◽  
Control Approach ◽  
Three Dimensional Space

Currently, a bottleneck problem for battery-powered microflying robots is time of endurance. Inspired by flying animal behavior in nature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase mission life and more importantly execute tasks perching on an object in the stationary way. In prior work, we have developed some prototypes of flying and perching robots. However, when the robots switch between flying and perching, it is a challenging issue to deal with the contact between the robot and environment under the traditional position control without considering the stationary obstacle and external force. Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots to smoothly contact with the environment. The dynamic model of the bioinspired robot is deduced, and the proposed impedance control method is employed to control the contact force and displacement with the environment. Simulations including the top perching and side perching and the preliminary experiments were conducted to validate the proposed method. Both simulation and experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching robot.

An Anti-Sway Controller’s Design of the Overhead Crane

2011 ◽  
Vol 328-330 ◽  
pp. 1868-1871
Author(s):  
Bin Yang ◽  
Lin Ma
Keyword(s):  
Control Method ◽  
Dimensional Space ◽  
Lagrange Equation ◽  
Three Dimensional ◽  
Transient State ◽  
Analytical Mechanics ◽  
Overhead Crane ◽  
Closed Loop System ◽  
Motion System ◽  
Three Dimensional Space

This paper detailedly illustrates how to design an anti-sway controller of overhead crane for eliminating pendulum of hook-headed. First of all the paper uses Lagrange Equation in analytical mechanics to obtain a mathematical model of crane motion system in three dimensional space. Then the paper advances a new control method and designs an anti-disturbance tracking controller based on servo-compensator and stabilization compensator for eliminating pendulum of hook-headed and accurately fixing position. In general, it is difficult to design an appropriate control law because of the crane motion system’s nonlinearity and strong coupling. However, the control method the paper put forward is simple and effective, and ensures the transient state performance of closed-loop system preferable and stable. The paper will introduce the design steps of anti-sway controller of overhead crane and give a satisfying simulation result, which are new and original in this paper.

Keys and Tactics of Existing Barracks Spatial Layout Optimization

2014 ◽  
Vol 1065-1069 ◽  
pp. 1622-1625
Author(s):  
Lei Yan ◽  
Wei Ran Zhou
Keyword(s):  
Control Method ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Spatial Layout ◽  
Layout Optimization ◽  
The Sustainable Development ◽  
Space Construction ◽  
Function Integration ◽  
Land Reuse ◽  
Three Dimensional Space

Spatial layout optimization is a core of existing barracks renewal. Distinguishing from new built barracks, existing barrack spatial layout optimization needs to pay more attention to solve the contradiction between current and future. So in this chapter, we develop six primary design keys applied to existing barracks including harmony relations between barrack and its surrounding environment, emphasis on weakness construction, optimize allocation, improve security defense capabilities, enhance artistry of spatial layout and realize the whole structure optimization. Reference to ancient classical fortification thoughts and current construction conditions, we also explore 5 tactics to optimize existing barracks spatial layout , namely, function integration method, node co-ordinate method, axis control method, three-dimensional space construction method, as well as idle land reuse method. Finally, we choose one tipical case to integrated apply the above keys and tactics from theoretical and practical fields promoting the sustainable development of existing barrack .

Quaternion-Based Control of Acrobatic Quadrotor With Trajectory Following

2020 ◽  
Author(s):  
Haowen Liu ◽  
Bingen Yang
Keyword(s):  
Numerical Simulation ◽  
Mathematical Model ◽  
Control Method ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Path Following ◽  
Differential Flatness ◽  
Reference Trajectory ◽  
Control Approach ◽  
Trajectory Following

Abstract For an unmanned aerial vehicle (UAV), its navigation in terrains can be quite challenging. To reach the destination within the required time, the maneuver of the quadrotor must behave aggressively. During this aggressive maneuvering, the quadrotor can experience singularities in the yaw-direction rotation. Thus, it is essentially important to develop a mathematical model and control method that can avoid singularities while enabling such an aggressive maneuver. In our previous effort, we demonstrated a vertical loop aggressive maneuver performed by a quadrotor UAV, which utilizes the controlled loop path following (CLPF) method. As found in this work, conventional modeling and tracking control method may not be good enough if specific requirements, such as fast coasting speed and sharp turns, are imposed. The numerical simulation by singularity-free modeling and the CLPF method enables a quadrotor to be operated in aggressive maneuverability with features like automatic flipping and precise trajectory following. The current research extends the maneuverability of a quadrotor by using a different and more capable control approach. More complex trajectories are used to test this new control method. In this paper, a quadrotor is used to demonstrate the capability of the proposed control method in delivering an aggressive and singularity-free maneuver. A quaternion-based mathematical model of the quadrotor is derived to avoid the singularities of rotation during the aggressive maneuvers. At the same time, a new control method, namely the full quaternion differential flatness (FQDF) method, is developed for quadrotors to combat the requirement of a fast maneuver in three-dimensional space. The FQDF method, which makes use of full quaternion modeling and differential flatness, enables the quadrotor to react to the reference trajectory timely and to exhibit aggressive rotation without any singularity. Also, the singularities resulting from the heading direction can be resolved by a new algorithm. The FQDF method is compared with the reference literature’s methods and is tested in different trajectories from the ones in the previous studies. The numerical simulation demonstrates the aggressive maneuverability and computational efficiency of the proposed control method.

Distributed Formation Control of UAVs for Circumnavigating a Moving Target in Three-Dimensional Space

2021 ◽  
Vol 01 (03) ◽  
Author(s):  
Yanhong Luo ◽  
Ao Bai ◽  
Huaguang Zhang
Keyword(s):  
Feedback Linearization ◽  
Formation Control ◽  
Control Method ◽  
Dimensional Space ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Moving Target ◽  
Dynamic Feedback ◽  
Space Angle ◽  
Three Dimensional Space

In this paper, a novel formation control strategy is proposed to address the target tracking and circumnavigating problem of multi-UAV formation. First, two sets of definitions, space angle definition and space vector definition, are presented in order to describe the flight state and construct the desired relative velocity. Then, the relative kinematic model between the UAV and the moving target is established. The distributed control law is constructed by using dynamic feedback linearization so as to realize the tracking and circumnavigating control with the desired velocity, circling radius and relative angular spacing. Next, the exponential stability of the closed-loop system is further guaranteed by properly choosing some corresponding parameters based on the Lyapunov method. Finally, the numerical simulation is carried out to verify the effectiveness of the proposed control method.

Formation control for multi-UAVs systems based on Kullback-Leibler divergence

2019 ◽  
Vol 42 (3) ◽  
pp. 598-603
Author(s):  
Wei Liao ◽  
Xiaohui Wei ◽  
Jizhou Lai ◽  
Hao Sun
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Initial Conditions ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Initial Position ◽  
Probability Density Functions ◽  
Control Law ◽  
Leibler Divergence ◽  
Three Dimensional Space

This paper presents a formation control method for multi unmanned aerial vehicles (UAVs) systems. The first step is to design two probability density functions describing to the desired formation and current formation, respectively. Then, through minimizing the Kullback-Leibler divergence, this method is able to bring the UAVs to a desired formation and stabilizes the desired formation in all initial conditions except the case where a pair of UAVs are in the same initial position. The gradient of Kullback-Leibler divergence is calculated using Monte Carlo method, by means of which it is not necessary to preplan route for every UAV and to take extra measure to avoid collisions between any two UAVs during the motion. At the end of this paper, the proposed method is adopted to carry out to some numerical simulations in a two-dimensional space and a three-dimensional space, respectively, to illustrate the effectiveness of the method. Conclusions show that the formation of the UAVs can converge to the desired formation under the control law proposed in this paper.

Modelling and Kinematic Analysis of a Built Up Linear Delta Robot

2012 ◽  
Vol 186 ◽  
pp. 234-238
Author(s):  
Erol Uyar ◽  
Lutfi Mutlu
Keyword(s):  
Simulation Model ◽  
Kinematic Analysis ◽  
Position Control ◽  
Mechanical Design ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Inverse Kinematic ◽  
Kinematic Parameters ◽  
Dc Motors ◽  
Three Dimensional Space

In this paper kinematic analysis of a 3-PUU translational parallel manipulator (TPM) is made by creating the forward and inverse Kinematic solutions. For a given position, control of the end effecter is then realized by using the calculated inverse kinematic parameters as reference values. For kinematic analysis relevant equations are derived from geometrical vector relations. For the forward and inverse kinematic solutions of the non-linear model a MATLAB based iterative algorithm is developed and the inverse kinematic solutions of limbs, are then used to control the end effecter position through screw rails which are driven by DC motors. After the general mechanical design of the manipulator all parts are drawn and modelled in SolidWorks, and a simulation of the motion in three dimensional space is made. To support the reliability of calculated parameters through inverse kinematic solutions, results are compared with the values of SolidWorks based simulation model of the manipulator. Furthermore a real position control with use of feed back encoders is applied and the evaluated results are compared with the results of a simulation model. Very similar and satisfactory results are obtained with both simulation and real application.

scholarly journals Determining the parameters of the trajectory of the bucket of mining quarries excavators

2021 ◽  
Vol 280 ◽  
pp. 05013
Author(s):  
Valerii Tytiuk ◽  
Kamal Khandakji ◽  
Galina Sivyakova ◽  
Nadezhda Karabut ◽  
Oleksii Chornyi ◽  
...  
Keyword(s):  
Position Control ◽  
Control Method ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Mining Industry ◽  
Point Of View ◽  
Three Dimensions ◽  
Electric Drives ◽  
Coordinate Control ◽  
Electric Excavator

The bucket positioning of the excavator in three-dimensions (3-D) is the precondition of the robotic excavator starting automatized works. The electric excavator is one of the most widely used machinery in the mining industry, mainly due to its versatility and portability. Among the tasks performed by the excavator, there is a significant number of repetitive movements associated with moving the bucket to the unloading point and back to the face. Using automated functions to perform such repetitive tasks will not only significantly increase overall productivity, but also reduce energy consumption. This research is carried out to create a method of coordinate control of electric drives of the boom, dipper stick, and bucket of an electric excavator to perform accurate and efficient work. On the basis of the kinematic analysis of the excavator’s attachment system, the trajectory of the end of the working body can be determined from the point of view of the coordinated movement of the electric drives of the main mechanisms of the excavator. Thus, the complex algorithm of the excavator bucket 3-D position control can be carried out by coordinated control of the movement of three separate electric drives. This coordinate control algorithm was tested on the example of the EKG-8I excavator, and the results of the verification showed that this developed control method can satisfactorily perform the function of automatic control of the bucket position in three-dimensional space. Optimization of control will be further carried out based on the analysis of the energy efficiency of various possible trajectories.

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