scholarly journals Vision-Based Nonlinear Control of Quadrotors Using the Photogrammetric Technique

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
José Trinidad Guillén-Bonilla ◽  
Claudia Carolina Vaca García ◽  
Stefano Di Gennaro ◽  
María Eugenia Sánchez Morales ◽  
Cuauhtémoc Acosta Lúa
Keyword(s):  
Nonlinear Control ◽  
Numerical Simulations ◽  
Dynamic Equations ◽  
Reference Trajectory ◽  
Control Input ◽  
Backstepping Technique ◽  
Matlab Simulink ◽  
Quadrotor Helicopter ◽  
Nonlinear Controllers ◽  
Euler Model

This paper presents a controller designed via the backstepping technique, for the tracking of a reference trajectory obtained via the photogrammetric technique. The dynamic equations used to represent the motion of the quadrotor helicopter are based on the Newton–Euler model. The resulting quadrotor model has been divided into four subsystems for the altitude, longitudinal, lateral, and yaw motions. A control input is designed for each subsystem. Furthermore, the photogrammetric technique has been used to obtain the reference trajectory to be tracked. The performance and effectiveness of the proposed nonlinear controllers have been tested via numerical simulations using the Pixhawk Pilot Support Package developed for Matlab/Simulink.

The effects of geometric offsets on the dynamic responses of a Scott—Russell amplifying mechanism with flexible hinges

2009 ◽  
Vol 223 (10) ◽  
pp. 2413-2423 ◽  
Author(s):  
C-M Chen ◽  
R-F Fung
Keyword(s):  
Numerical Simulations ◽  
Analytical Model ◽  
Dynamic Responses ◽  
Analytical Models ◽  
Dynamic Equations ◽  
Magnification Factor ◽  
Flexure Hinges ◽  
Magnification Factors ◽  
Straight Line ◽  
Deviation Factor

The dynamic equations of a micro-positioning Scott—Russell (SR) mechanism associated with two flexible hinges and an offset are developed to calculate output responses. Both rigid and flexible hinges are considered to explore the results. The main features in the kinematics of the SR mechanism are its displacement amplification and straight-line motion, which are widely needed in practical industries. The manufacturing inaccuracy of the SR mechanism definitely causes geometric offsets of flexure hinges, and affects displacement amplification and straight-line output motion. Analytical models based on kinematics and Hamilton's principle are derived to explore the variation of linearity ratio, magnification factor, and deviation factor due to various offsets and link lengths. From numerical simulations for the SR mechanism with various offsets of flexible hinges in the conditions of different link lengths, it is found that offsets of flexure hinges obviously affect the amplifying factor and linearity ratio, and appear to dominate the changes of magnification factors. Moreover, an analytical model is also used to predict magnification factors due to various offsets. Finally, some conclusions concerning the effects of offset on the performance of the SR mechanism are drawn.

scholarly journals Reference trajectory tracking for a multi-DOF robot arm

2015 ◽  
Vol 25 (4) ◽  
pp. 513-527 ◽  
Author(s):  
Róbert Krasňanský ◽  
Peter Valach ◽  
Dávid Soós ◽  
Javad Zarbakhsh
Keyword(s):  
Data Exchange ◽  
Iterative Solution ◽  
Reference Trajectory ◽  
Robot Arm ◽  
Task Space ◽  
Joint Configuration ◽  
Matlab Simulink ◽  
Stepper Motors ◽  
Homogeneous Transformation Matrix ◽  
Kinematic Transformation

Abstract This paper presents the problem of tracking the generated reference trajectory by the simulation model of a multi-DOF robot arm. The kinematic transformation between task space and joint configuration coordinates is nonlinear and configuration dependent. To obtain the solution of the forward kinematics problem, the homogeneous transformation matrix is used. A solution to the inverse kinematics is a vector of joint configuration coordinates calculated using of pseudoinverse Jacobian technique. These coordinates correspond to a set of task space coordinates. The algorithm is presented which uses iterative solution and is simplified by considering stepper motors in robot arm joints. The reference trajectory in Cartesian coordinate system is generated on-line by the signal generator previously developed in MS Excel. Dynamic Data Exchange communication protocol allows sharing data with Matlab-Simulink. These data represent the reference tracking trajectory of the end effector. Matlab-Simulink software is used to calculate the representative joint rotations. The proposed algorithm is demonstrated experimentally on the model of 7-DOF robot arm system.

scholarly journals Synchronization and Anti-Synchronization of Two Identical Hyperchaotic Systems Based on Active Backstepping Design

2011 ◽  
pp. 117-122
Author(s):  
Atefeh Saedian ◽  
Hassan Zarabadipoor
Keyword(s):  
Numerical Simulations ◽  
Active Control ◽  
Chaos Control ◽  
Control Method ◽  
Design Method ◽  
Backstepping Design ◽  
Backstepping Technique ◽  
Control Approach ◽  
Hyperchaotic Systems

This paper presents an active backstepping design method for synchronization and anti-synchronization of two identical hyperchaotic Chen systems. The proposed control method, combining backstepping design and active control approach, extends the application of backstepping technique in chaos control. Based on this method, different combinations of controllers can be designed to meet the needs of different applications. Numerical simulations are shown to verify the results.

scholarly journals Furuta's Pendulum: AConservativeNonlinear Model for Theory and Practise

2010 ◽  
Vol 2010 ◽  
pp. 1-29 ◽  
Author(s):  
J. Á. Acosta
Keyword(s):  
Nonlinear Control ◽  
Automatic Control ◽  
Dynamic Model ◽  
Classical Mechanics ◽  
Dynamical Model ◽  
Integrals Of Motion ◽  
Control Techniques ◽  
Nonlinear Controllers ◽  
Control Community ◽  
Practical Model

Furuta's pendulum has been an excellent benchmark for the automatic control community in the last years, providing, among others, a better understanding of model-based Nonlinear Control Techniques. Since most of these techniques are based on invariants and/or integrals of motion then, the dynamic model plays an important role. This paper describes, in detail, the successful dynamical model developed for the available laboratory pendulum. The success relies on a basic dynamical model derived from Classical Mechanics which has been augmented to compensate thenon-conservativetorques. Thus, thequasi-conservative“practical” model developed allows to design all the controllers as if the system was strictlyconservative. A survey of all the nonlinear controllers designed and experimentally tested on the available laboratory pendulum is also reported.

ANTISYNCHRONIZATION OF IDENTICAL AND NONIDENTICAL Φ6 VAN DER POL AND Φ6 DUFFING OSCILLATORS WITH BOTH PARAMETRIC AND EXTERNAL EXCITATIONS VIA BACKSTEPPING APPROACH

2011 ◽  
Vol 25 (14) ◽  
pp. 1957-1969 ◽  
Author(s):  
K. S. OJO ◽  
A. N. NJAH ◽  
G. A. ADEBAYO
Keyword(s):  
Numerical Simulations ◽  
Backstepping Technique ◽  
Adaptive Backstepping ◽  
Van Der Pol ◽  
Backstepping Approach ◽  
Van Der Pol Oscillators ◽  
Parametric And External Excitations

This paper investigates antisynchronization of identical and nonidentical Φ6 Van der Pol oscillators (VDPOs) and Φ6 Duffing oscillators (DOs) with both parametric and external excitations based on adaptive backstepping technique. The technique is applied to achieve complete antisynchronization between identical Φ6 (VDPOs), identical Φ6 (DOs), and nonidentical Φ6 oscillators comprising the Φ6 (VDPO) and Φ6 (DO). Numerical simulations are implemented to verify the feasibility and effectiveness of the antisynchronization technique.

AN ACTIVE CONTROL FOR CHAOS SYNCHRONIZATION OF REAL AND COMPLEX VAN DER POL OSCILLATORS

2007 ◽  
Vol 18 (05) ◽  
pp. 795-804 ◽  
Author(s):  
AHMED A. M. FARGHALY
Keyword(s):  
Lyapunov Function ◽  
Numerical Simulations ◽  
Active Control ◽  
Limit Cycles ◽  
Chaos Synchronization ◽  
Control Technique ◽  
Control Input ◽  
Van Der Pol ◽  
Van Der Pol Oscillators

In a recent paper [Chaos, Solitons Fractals21, 915 (2004)], both real and complex Van der Pol oscillators were introduced and shown to exhibit chaotic limit cycles. In the present work these oscillators are synchronized by applying an active control technique. Based on Lyapunov function, the control input vectors are chosen and activated to achieve synchronization. The feasibility and effectiveness of the proposed technique are verified through numerical simulations.

Mobile Robots Characterized by Kinematic and Dynamic Equations: Motion Planning, Trajectory Tracking, and Group Control

2008 ◽  
Author(s):  
Amit Ailon
Keyword(s):  
Mathematical Model ◽  
Motion Planning ◽  
Mobile Robots ◽  
Dynamic Equations ◽  
Kinematics And Dynamics ◽  
Control Problems ◽  
Reference Trajectory ◽  
Numerical Examples ◽  
Group Control ◽  
The Mathematical Model

The paper solves some control problems of mobile robots as both kinematics and dynamics are intertwined in the mathematical model. The problems of driving the vehicle to a desired configuration in a specified time and tracking a reference trajectory are considered. The control problems associated with motion in convoy and rigid formations of a group of vehicles are studied and some results are demonstrated by numerical examples.

Structural Analysis of Nonlinear Control Systems Using Singular Value Decomposition: Part I — Approach

2003 ◽  
Author(s):  
Kwan-Woong Gwak ◽  
Glenn Y. Masada
Keyword(s):  
Structural Analysis ◽  
Singular Value Decomposition ◽  
Nonlinear Control ◽  
Control Systems ◽  
Singular Value ◽  
Mode Shapes ◽  
Nonlinear Control Systems ◽  
Control Input ◽  
Input Output ◽  
Value Decomposition

Structural information of a system/controller allows a designer to diagnose performance characteristics in advance and to make better choices of solution methods. Singular value decomposition (SVD) is a powerful structural analysis tool that has been applied to linear systems and controller designs, but it has not been used for nonlinear systems. In this paper, SVD is use to structurally analyze and to optimally design nonlinear control systems using the linear algebraic equivalence of the nonlinear controller. Specifically, SVD is used to identify control input/output mode shapes, and the control input/output distribution patterns are analyzed with the mode shapes. Optimizing control effort and performance is achieved by truncating some mode shapes in the linear mode shape combinations.

QUASIPASSIVITY-BASED ROBUST NONLINEAR FLAP POSITIONING CONTROL USING SHAPE MEMORY ALLOY MICRO-ACTUATORS

2005 ◽  
Vol 29 (2) ◽  
pp. 143-161
Author(s):  
Nicolas Léchevin ◽  
Camille Alain Rabbath ◽  
Frank Wong ◽  
O. Boissonneault
Keyword(s):  
Shape Memory Alloy ◽  
Nonlinear Control ◽  
Numerical Simulations ◽  
Shape Memory ◽  
Position Control ◽  
Tracking Error ◽  
Constitutive Law ◽  
Control Law ◽  
Ultimate Boundedness ◽  
Feedback Connection

This paper proposes a quasipassivity-based robust nonlinear control law ensuring position control of a rotary flap by means of an antagonist-type shape memory alloy microactuator. The control system employs variable-structure control to obtain robust performance, phase-lead compensation to quasipassivate the shape memory alloy dynamics and quasipassivity-based analysis to warrant robust ultimate boundedness of system trajectories. The feedback connection of the two paths leads to ultimate boundedness of tracking error trajectories of the plant despite uncertainties in the dynamic loads affecting the leading edge flap and in the friction found in the actuator. Since accurate numerical simulations and development of new concepts of microactuators based on shape memory alloys require a tractable, constitutive law accurately describing the relationship between force, displacement and temperature in the material, the paper also presents a hybrid micro-macro-mechanical shape memory alloy constitutive model. This model is based on a combination of structural modeling on a microscopic scale and transformation kinetics modeling on a macroscopic scale. The proposed control law and hybrid micro-macro-mechanical model are placed in closed-loop by means of numerical simulations that demonstrate the validity of the nonlinear control scheme.

Optimal Yaw Regulation and Trajectory Control of Biorobotic AUV Using Mechanical Fins Based on CFD Parametrization

2005 ◽  
Vol 128 (4) ◽  
pp. 687-698 ◽  
Author(s):  
Mukund Narasimhan ◽  
Haibo Dong ◽  
Rajat Mittal ◽  
Sahjendra N. Singh
Keyword(s):  
Discrete Time ◽  
Center Of Mass ◽  
Immersed Boundary ◽  
Reference Trajectory ◽  
Control Input ◽  
Time Model ◽  
Pectoral Fins ◽  
Undersea Vehicle ◽  
Flapping Foils ◽  
Yaw Angle

This paper treats the question of control of a biorobotic autonomous undersea vehicle (BAUV) in the yaw plane using a biomimetic mechanism resembling the pectoral fins of fish. These fins are assumed to undergo a combined sway-yaw motion and the bias angle is treated as a control input, which is varied in time to accomplish the maneuver in the yaw-plane. The forces and moments produced by the flapping foil are parametrized using computational fluid dynamics. A finite-difference-based, Cartesian grid immersed boundary solver is used to simulate flow past the flapping foils. The periodic forces and moments are expanded as a Fourier series and a discrete-time model of the BAUV is developed for the purpose of control. An optimal control system for the set point control of the yaw angle and an inverse control law for the tracking of time-varying yaw angle trajectories are designed. Simulation results show that in the closed-loop system, the yaw angle follows commanded sinusoidal trajectories and the segments of the intersample yaw trajectory remain close to the discrete-time reference trajectory. It is also found that the fins suitably located near the center of mass of the vehicle provide better maneuverability.

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