scholarly journals Analytical Synthesis of Regulators for Nonlinear Systems with a Terminal State Method on Examples of Motion Control of a Wheeled Robot and a Vessel

2018 ◽  
Vol 2018 ◽  
pp. 1-13
Author(s):  
E. A. Shushlyapin ◽  
A. E. Bezuglaya
Keyword(s):  
Inverse Dynamics ◽  
Control Method ◽  
Nonlinear Differential Equations ◽  
Terminal State ◽  
System Control ◽  
Wheeled Robot ◽  
Nonlinear System Control ◽  
Seventh Order ◽  
State Method ◽  
Double Track

The paper is devoted to several examples of control algorithm development for two-wheeled double-track robot and low-tonnage vessel-catamaran with two Azipods that show practical aspects of the application of one nonlinear system control method — terminal state method. This method, developed by the authors of the present paper, belongs to the class of methods for inverse dynamics problem solving. Mathematical models of control objects in the form of normal systems of third-order nonlinear differential equations for the wheeled robot and seventh-order ones for the vessel are presented. Design formulas of the method in general form for terminal and stabilizing controls are shown. A routine of obtaining calculation expressions for control actions is shown. Results of computer simulation of bringing the robot to a given point in a given time, as well as bringing the vessel to a given course during a “strong” maneuver, are described.

Study of Compound Fuzzy-PID System for Engine Speed Control of PHEV

2012 ◽  
Vol 490-495 ◽  
pp. 613-617
Author(s):  
Huai Gang Zang ◽  
Yan Long Han ◽  
Yan Xia Niu
Keyword(s):  
Hybrid Electric Vehicle ◽  
Control Method ◽  
Kinetic Equations ◽  
Operating Conditions ◽  
Mode Switching ◽  
System Control ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Speed Regulation ◽  
Nonlinear System Control

This paper is a research about the speed adjustment of Parallel Hybrid Electric Vehicle engine under different operating conditions. It seems that the traditional PID controller is powerless owing to nonlinear and time-varying of the engine system. This paper studies coordinated control problems of the engine by using compound fuzzy-PID control method, which greatly reduces the difficulty of the nonlinear system control and improves robustness and real-time of the control system. And dynamic model of PHEV engine is established by using kinetic equations in this paper. Compared with traditional PID and fuzzy system, it proves that compound fuzzy-PID system has a better control performance, which can meet the requirements of quick start of the engine and speed regulation under the three kinds of adjustments of engine idle speed, vehicle acceleration and speed regulation in the process of the drive mode switching.

Nonlinear System Control Strategies

2013 ◽  
Vol 694-697 ◽  
pp. 2157-2161
Author(s):  
Cong Li ◽  
Xi Min Liu
Keyword(s):  
Nonlinear System ◽  
Nonlinear Control ◽  
Control Strategy ◽  
Control Method ◽  
Control Strategies ◽  
Liquid Level ◽  
Amplification Coefficient ◽  
System Control ◽  
Nonlinear System Control ◽  
Level Process

A nonlinear model of a liquid level process is obtained on the analysis of its nonlinear characteristics. Then a practical nonlinear system control strategy of the liquid level process based on single chip computer is presented. By measuring the liquid level and flow rate, two key parameters of the liquid level process, the amplification coefficient and time constant under different load are calculated. Then the control signal is calculated according to the selected control method and the automatic control of the nonlinear system is realized. The test results are given and it shows that the nonlinear control strategy is better then the linear control strategy. The nonlinear control strategy can improve control quality considerably.

Process Control Method of Complex Product Multidisciplinary Collaborative Design System

2013 ◽  
Vol 712-715 ◽  
pp. 2888-2893
Author(s):  
Hai Qiang Liu ◽  
Ming Lv
Keyword(s):  
Information Sharing ◽  
Product Design ◽  
Design Process ◽  
Collaborative Design ◽  
Control Method ◽  
Integrated System ◽  
Design System ◽  
System Control ◽  
Complex Product ◽  
Product Design Process

In order to realize information sharing and interchange of complex product multidisciplinary collaborative design (MCD) design process and resources. The Process integrated system control of product multidisciplinary collaborative design was analyzed firstly in this paper, then design process of complex product for supporting multidisciplinary collaborative was introduced, a detailed description is given of the organization structure and modeling process of MCD-oriented Integration of Product Design Meta-model ; and concrete implement process of process integrated system control method was introduced to effectively realize information sharing and interchange between product design process and resources.

Continuous reinforcement learning based ramp jump control for single-track two-wheeled robots

2021 ◽  
pp. 014233122110378
Author(s):  
Qingyuan Zheng ◽  
Duo Wang ◽  
Zhang Chen ◽  
Yiyong Sun ◽  
Bin Liang
Keyword(s):  
Reinforcement Learning ◽  
Energy Savings ◽  
Control Method ◽  
Learning Control ◽  
Action Space ◽  
Gradient Algorithm ◽  
Single Track ◽  
Wheeled Robots ◽  
Reward Function ◽  
Wheeled Robot

Single-track two-wheeled robots have become an important research topic in recent years, owing to their simple structure, energy savings and ability to run on narrow roads. However, the ramp jump remains a challenging task. In this study, we propose to realize a single-track two-wheeled robot ramp jump. We present a control method that employs continuous action reinforcement learning techniques for single-track two-wheeled robot control. We design a novel reward function for reinforcement learning, optimize the dimensions of the action space, and enable training under the deep deterministic policy gradient algorithm. Finally, we validate the control method through simulation experiments and successfully realize the single-track two-wheeled robot ramp jump task. Simulation results validate that the control method is effective and has several advantages over high-dimension action space control, reinforcement learning control of sparse reward function and discrete action reinforcement learning control.

The Application of Intelligent Industrial Robotic Control System Based on PLC in Mechanical Automation

2013 ◽  
Vol 738 ◽  
pp. 272-275
Author(s):  
Dun Chen Lan
Keyword(s):  
Control System ◽  
Control Method ◽  
Control Function ◽  
Industrial Robot ◽  
Interface State ◽  
Research Field ◽  
Normal Operation ◽  
System Control ◽  
Experiment Platform ◽  
Excellent Control

In the field of mechanical automation, intelligent industrial robot technology is an important branch in the research field of robot; it is always the hot spots of the world robot research, and it being used to get the application in the industry today. Robot experiment platform of PLC and motor control technology, it based on the control method used by the robot control system improvements to make it more perfect run more precise, reasonable. In the same time, the man-machine interface state run monitoring, to ensure the normal operation of the system. Improved control method of the improvement of the work efficiency, reduce the work of the workers a duplication degree have a significant effect, and the system control at the scene, especially PLC control has excellent control function and good cost performance .

scholarly journals An adaptive PID neural network for complex nonlinear system control

2014 ◽  
Vol 135 ◽  
pp. 79-85 ◽  
Author(s):  
Jun Kang ◽  
Wenjun Meng ◽  
Ajith Abraham ◽  
Hongbo Liu
Keyword(s):  
Neural Network ◽  
Nonlinear System ◽  
System Control ◽  
Nonlinear System Control ◽  
Complex Nonlinear System ◽  
Pid Neural Network
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