scholarly journals Decentralized Control for Scalable Quadcopter Formations

2016 ◽  
Vol 2016 ◽  
pp. 1-10
Author(s):  
Qasim Ali ◽  
Sergio Montenegro
Keyword(s):  
Position Control ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Time Duration ◽  
Control Effort ◽  
Ground Station ◽  
Model Following ◽  
Control Scheme ◽  
Control Schemes ◽  
And Control

An innovative framework has been developed for teamwork of two quadcopter formations, each having its specified formation geometry, assigned task, and matching control scheme. Position control for quadcopters in one of the formations has been implemented through a Linear Quadratic Regulator Proportional Integral (LQR PI) control scheme based on explicit model following scheme. Quadcopters in the other formation are controlled through LQR PI servomechanism control scheme. These two control schemes are compared in terms of their performance and control effort. Both formations are commanded by respective ground stations through virtual leaders. Quadcopters in formations are able to track desired trajectories as well as hovering at desired points for selected time duration. In case of communication loss between ground station and any of the quadcopters, the neighboring quadcopter provides the command data, received from the ground station, to the affected unit. Proposed control schemes have been validated through extensive simulations using MATLAB®/Simulink® that provided favorable results.

A Control Scheme for an Opposed Recumbent Tandem Human-Powered Bicycle

1996 ◽  
Vol 12 (4) ◽  
pp. 480-492
Author(s):  
Scott O. Cloyd ◽  
Mont Hubbard ◽  
LeRoy W. Alaways
Keyword(s):  
Feedback Control ◽  
Linear Quadratic Regulator ◽  
Optimal Feedback Control ◽  
State Variables ◽  
Linear Quadratic ◽  
Lateral Deviation ◽  
Control Scheme ◽  
Control Schemes ◽  
Lean Angle ◽  
Human Powered

Feedback control of a human-powered single-track bicycle is investigated through the use of a linearized dynamical model in order to develop feedback gains that can be implemented by a human pilot in an actual vehicle. The object of the control scheme is to satisfy two goals: balance and tracking. The pilot should be able not only to keep the vehicle upright but also to direct the forward motion as desired. The two control inputs, steering angle and rider lean angle, are assumed to be determined by the rider as a product of feedback gains and “measured” values of the state variables: vehicle lean, lateral deviation from the desired trajectory, and their derivatives. Feedback gains are determined through linear quadratic regulator theory. This results in two control schemes, a “full” optimal feedback control and a less complicated technique that is more likely to be usable by an inexperienced pilot. Theoretical optimally controlled trajectories are compared with experimental trajectories in a lane change maneuver.

Optimal preview position control for shifting actuators of automated manual transmission

2018 ◽  
Vol 233 (2) ◽  
pp. 440-452
Author(s):  
Zhiqiang Chen ◽  
Bangji Zhang ◽  
Nong Zhang ◽  
Haiping Du ◽  
Guoling Kong
Keyword(s):  
Position Control ◽  
Linear Quadratic Regulator ◽  
Transformation Method ◽  
State Feedback Control ◽  
Linear Matrix ◽  
Linear Quadratic ◽  
State Transformation ◽  
Gear Shift ◽  
Shift Quality ◽  
Control Scheme

This paper is concerned with the problem of position tracking control for the motor-driven gear-shift actuating mechanism for electro-mechanical automated manual transmissions (AMT). It is well known that torque interruption is an inherent flaw of AMT. As shift duration directly affects the torque interruption interval, shift quality can be improved by minimizing the duration of the shift. To realize rapid and precise gear-shift control, an optimal discrete-time preview position control scheme is proposed. The proposed control scheme consists of state-feedback control, a discrete integrator, and preview feed-forward control. Instead of the traditional difference method, the state transformation method is utilized to construct the augmented error system such that the augmented system can be kept in a simple form. The H∞ performance index is employed to reduce the effect of the shifting load disturbance during the gear-shifting process. The controller gains are obtained by solving a linear matrix inequality (LMI). Simulation and test bench results all show that the proposed preview control algorithm has better dynamic response and adaptability under different loads compared to the optimal linear quadratic regulator (LQR) controller and the standard PID controller.

An LQ Approach to Active Control of Vibrations in Helicopters

1996 ◽  
Vol 118 (3) ◽  
pp. 482-488 ◽  
Author(s):  
Sergio Bittanti ◽  
Fabrizio Lorito ◽  
Silvia Strada
Keyword(s):  
Optimal Control ◽  
Active Control ◽  
Linear Quadratic ◽  
Control Effort ◽  
Vibration Effect ◽  
Suitable Definition ◽  
Lq Optimal Control ◽  
The One ◽  
Definition Of ◽  
And Control

In this paper, Linear Quadratic (LQ) optimal control concepts are applied for the active control of vibrations in helicopters. The study is based on an identified dynamic model of the rotor. The vibration effect is captured by suitably augmenting the state vector of the rotor model. Then, Kalman filtering concepts can be used to obtain a real-time estimate of the vibration, which is then fed back to form a suitable compensation signal. This design rationale is derived here starting from a rigorous problem position in an optimal control context. Among other things, this calls for a suitable definition of the performance index, of nonstandard type. The application of these ideas to a test helicopter, by means of computer simulations, shows good performances both in terms of disturbance rejection effectiveness and control effort limitation. The performance of the obtained controller is compared with the one achievable by the so called Higher Harmonic Control (HHC) approach, well known within the helicopter community.

scholarly journals Neural Network Based Contact Force Control Algorithm for Walking Robots

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 287
Author(s):  
Byeongjin Kim ◽  
Soohyun Kim
Keyword(s):  
Neural Network ◽  
Contact Force ◽  
Force Control ◽  
Control Algorithm ◽  
Position Control ◽  
Linear Quadratic Regulator ◽  
Walking Robots ◽  
Test Model ◽  
Linear Quadratic ◽  
Contact Force Control

Walking algorithms using push-off improve moving efficiency and disturbance rejection performance. However, the algorithm based on classical contact force control requires an exact model or a Force/Torque sensor. This paper proposes a novel contact force control algorithm based on neural networks. The proposed model is adapted to a linear quadratic regulator for position control and balance. The results demonstrate that this neural network-based model can accurately generate force and effectively reduce errors without requiring a sensor. The effectiveness of the algorithm is assessed with the realistic test model. Compared to the Jacobian-based calculation, our algorithm significantly improves the accuracy of the force control. One step simulation was used to analyze the robustness of the algorithm. In summary, this walking control algorithm generates a push-off force with precision and enables it to reject disturbance rapidly.

Comparison of Control Methods for Two-Link Planar Flexible Manipulator

2017 ◽  
Author(s):  
Joseph Bowkett ◽  
Rudranarayan Mukherjee
Keyword(s):  
Position Control ◽  
Linear Quadratic Regulator ◽  
Flexible Manipulator ◽  
Linear Quadratic ◽  
Large Space ◽  
Loop Control ◽  
Command Shaping ◽  
Aerospace Applications ◽  
Control Command ◽  
Low Stiffness

While the majority of terrestrial multi-link manipulators can be considered in a purely kinematic sense due to their high stiffness, the launch mass restrictions of aerospace applications such as in-orbit assembly of large space structures result in low stiffness links being employed, meaning dynamics can no longer be ignored. This paper seeks to investigate the suitability of several different open and closed loop control techniques for application to the problem of end effector position control with minimal vibration for a low stiffness space based manipulator. Simulations of a representative planar problem with two flexible links are used to measure performance and sensitivity to parameter variation of: model predictive control, command shaping, and command shaping with linear quadratic regulator (LQR) feedback. An experimental testbed is then used to validate simulation results for the recommended command shaped controller.

scholarly journals Iterative Linear Quadratic Regulator (ILQR) Controller for Trolley Position Control of Quanser 3DOF Crane

2015 ◽  
Vol 8 (16) ◽  
Author(s):  
Muhammad Faisal ◽  
Mohsin Jamil ◽  
Qasim Awais ◽  
Usman Rashid ◽  
Muhammad Sami Syed Omer Gilani ◽  
...  
Keyword(s):  
Position Control ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic

scholarly journals Mathematical Modelling and Control of a Two-Wheeled PUMA-LikeVehicle

2016 ◽  
Vol 6 (2) ◽  
pp. 11 ◽  
Author(s):  
Khaled M Goher
Keyword(s):  
Mathematical Modelling ◽  
Sliding Mode ◽  
Impact Load ◽  
State Space Model ◽  
Linear Quadratic Regulator ◽  
The Body ◽  
Pole Placement ◽  
General Motors ◽  
Linear Quadratic ◽  
And Control

<p class="1Body">This paper presents mathematical modelling and control of a two-wheeled single-seat vehicle. The design of the vehicle is inspired by the Personal Urban Mobility and Accessibility (PUMA) vehicle developed by General Motors® in collaboration with Segway®. The body of the vehicle is designed to have two main parts. The vehicle is activated using three motors; a linear motor to activate the upper part in a sliding mode and two DC motors activating the vehicle while moving forward/backward and/or manoeuvring. Two stages proportional-integral-derivative (PID) control schemes are designed and implemented on the system models. The state space model of the vehicle is derived from the linearized equations. Controller based on the Linear Quadratic Regulator (LQR) and the pole placement techniques are developed and implemented. Further investigation of the robustness of the developed LQR and the pole placement techniques is emphasized through various experiments using an applied impact load on the vehicle.</p>

scholarly journals DYNAMICS BASED CONTROL OF A SKID STEERING MOBILE ROBOT

2016 ◽  
Vol 9 (2) ◽  
pp. 70 ◽  
Author(s):  
Osama Elshazly ◽  
Hossam Abbas ◽  
Zakarya Zyada
Keyword(s):  
Mobile Robot ◽  
Inverse Dynamics ◽  
Linear Quadratic Regulator ◽  
Nonlinear Controller ◽  
Linear Quadratic ◽  
Reduced Order ◽  
Lqr Control ◽  
Control Schemes ◽  
Skid Steering ◽  
Drive Model

In this paper, development of a reduced order, augmented dynamics-drive model that combines both the dynamics and drive subsystems of the skid steering mobile robot (SSMR) is presented. A Linear Quadratic Regulator (LQR) control algorithm with feed-forward compensation of the disturbances part included in the reduced order augmented dynamics-drive model is designed. The proposed controller has many advantages such as its simplicity in terms of design and implementation in comparison with complex nonlinear control schemes that are usually designed for this system. Moreover, the good performance is also provided by the controller for the SSMR comparable with a nonlinear controller based on the inverse dynamics which depends on the availability of an accurate model describing the system. Simulation results illustrate the effectiveness and enhancement provided by the proposed controller.

Modeling and Control of a Complex Interacting Process

2011 ◽  
Vol 403-408 ◽  
pp. 3758-3762
Author(s):  
Subhajit Patra ◽  
Prabirkumar Saha
Keyword(s):  
Storage System ◽  
Linear Quadratic Regulator ◽  
Model Parameters ◽  
Linear Quadratic ◽  
Modeling And Control ◽  
Dynamic Matrix ◽  
Liquid Storage ◽  
Efficient Control ◽  
And Control

In this paper, two efficient control algorithms are discussed viz., Linear Quadratic Regulator (LQR) and Dynamic Matrix Controller (DMC) and their applicability has been demonstrated through case study with a complex interacting process viz., a laboratory based four tank liquid storage system. The process has Two Input Two Output (TITO) structure and is available for experimental study. A mathematical model of the process has been developed using first principles. Model parameters have been estimated through the experimentation results. The performance of the controllers (LQR and DMC) has been compared to that of industrially more accepted PID controller.

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