A Novel Family of Exact Nonlinear Cascade Control Design Solutions for a Class of UAV Systems

In this work, a novel family of exact nonlinear control laws is developed for trajectory tracking of unmanned aerial vehicles. The proposed methodology exploits the cascade structure of the dynamic equations of most of these systems. In a first step, the vehicle position in Cartesian coordinates is controlled by means of fictitious inputs corresponding to the angular coordinates, which are fixed to a combination of computed torque and proportional-derivative elements. In a second step, the angular coordinates are controlled as to drive them to the desired fictitious inputs necessary for the first part, resulting in a double-integrator 3-input cascade control scheme. The proposal is put at test in two examples: 4-rotor and 8-rotor aircrafts. Numerical simulations of both plants illustrate the effectiveness of the proposed method, while real-time results of the first one confirm its applicability.

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Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities

Sensors ◽

10.3390/s21134374 ◽

2021 ◽

Vol 21 (13) ◽

pp. 4374

Author(s):

Jose Bernardo Martinez ◽

Hector M. Becerra ◽

David Gomez-Gutierrez

Keyword(s):

Obstacle Avoidance ◽

Tracking Control ◽

Global Coordinate System ◽

Avoidance Task ◽

Time Varying ◽

Control Laws ◽

Formation Tracking ◽

Control Scheme ◽

First Time ◽

Hierarchical Scheme

In this paper, we addressed the problem of controlling the position of a group of unicycle-type robots to follow in formation a time-varying reference avoiding obstacles when needed. We propose a kinematic control scheme that, unlike existing methods, is able to simultaneously solve the both tasks involved in the problem, effectively combining control laws devoted to achieve formation tracking and obstacle avoidance. The main contributions of the paper are twofold: first, the advantages of the proposed approach are not all integrated in existing schemes, ours is fully distributed since the formulation is based on consensus including the leader as part of the formation, scalable for a large number of robots, generic to define a desired formation, and it does not require a global coordinate system or a map of the environment. Second, to the authors’ knowledge, it is the first time that a distributed formation tracking control is combined with obstacle avoidance to solve both tasks simultaneously using a hierarchical scheme, thus guaranteeing continuous robots velocities in spite of activation/deactivation of the obstacle avoidance task, and stability is proven even in the transition of tasks. The effectiveness of the approach is shown through simulations and experiments with real robots.

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On path following control of nonholonomic mobile manipulators

International Journal of Applied Mathematics and Computer Science ◽

10.2478/v10006-009-0044-0 ◽

2009 ◽

Vol 19 (4) ◽

pp. 561-574 ◽

Cited By ~ 17

Author(s):

Alicja Mazur ◽

Dawid Szakiel

Keyword(s):

Control Algorithm ◽

Dynamic Control ◽

Path Following ◽

Mobile Manipulator ◽

Mobile Manipulators ◽

Control Laws ◽

Kinematic Control ◽

Motion Constraints ◽

Path Following Control ◽

Cascade Structure

On path following control of nonholonomic mobile manipulatorsThis paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of a mobile manipulator, i.e. the mobile platform and the manipulating arm. A description of the nonholonomic subsystem relative to the desired path using the Frenet parametrization is the basis for formulating the path following problem and designing a kinematic control algorithm. In turn, the dynamic control algorithm is a modification of a passivity-based controller. Theoretical deliberations are illustrated with simulations.

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An E/H Control Design for a Hydraulic Variable Displacement Axial Piston Motor

ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1 ◽

10.1115/dscc2011-5968 ◽

2011 ◽

Author(s):

Hongliu Du

Keyword(s):

Adaptive Learning ◽

Lower Cost ◽

Learning Algorithm ◽

Control Design ◽

Test Results ◽

Satisfactory Performance ◽

Control Scheme ◽

Variable Displacement ◽

System Uncertainties ◽

Axial Piston

A simple and novel speed control scheme for variable displacement motors has been developed under the consideration of some system uncertainties. Theoretical analysis and experimental test results have shown that the proposed control strategy is capable of driving the swashplate to track its desired trajectory with robust stability and satisfactory performance. An adaptive learning algorithm enables the controls to automatically adjust for uncertainties in the control bias current. Compared with its hydro-mechanical counterpart, the provided E/H control results in a hydraulic variable displacement motor with lower cost and better performance.

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Control design, implementation, and evaluation for an in-field 500 kW wind turbine with a fixed-displacement hydraulic drivetrain

Wind Energy Science ◽

10.5194/wes-3-615-2018 ◽

2018 ◽

Vol 3 (2) ◽

pp. 615-638 ◽

Cited By ~ 4

Author(s):

Sebastiaan Paul Mulders ◽

Niels Frederik Boudewijn Diepeveen ◽

Jan-Willem van Wingerden

Keyword(s):

Wind Turbine ◽

Control Design ◽

Business Case ◽

Torque Control ◽

Offshore Wind ◽

Pelton Turbine ◽

Torque Control Strategy ◽

Control Scheme ◽

Active Valve ◽

Electrical Generator

Abstract. The business case for compact hydraulic wind turbine drivetrains is becoming ever stronger, as offshore wind turbines are getting larger in terms of size and power output. Hydraulic transmissions are generally employed in high-load systems and form an opportunity for application in multi-megawatt turbines. The Delft Offshore Turbine (DOT) is a hydraulic wind turbine concept replacing conventional drivetrain components with a single seawater pump. Pressurized seawater is directed to a combined Pelton turbine connected to an electrical generator on a central multi-megawatt electricity generation platform. This paper presents the control design, implementation, and evaluation for an intermediate version of the ideal DOT concept: an in-field 500 kW hydraulic wind turbine. It is shown that the overall drivetrain efficiency and controllability are increased by operating the rotor at maximum rotor torque in the below-rated region using a passive torque control strategy. An active valve control scheme is employed and evaluated in near-rated conditions.

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Adaptive composite control method of permanent magnet synchronous motor systems

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331217719956 ◽

2017 ◽

Vol 40 (11) ◽

pp. 3345-3357 ◽

Cited By ~ 3

Author(s):

Zhenxing Sun ◽

Shihua Li ◽

Jiegao Wang ◽

Xinghua Zhang ◽

Xiaohui Mo

Keyword(s):

Control Method ◽

Permanent Magnet Synchronous Motor ◽

Digital Signal ◽

Cascade Control ◽

Current Loop ◽

Single Loop ◽

Control Scheme ◽

Control Schemes ◽

Relative Differences ◽

Compensation Design

With the development of digital signal processes, the relative differences of PMSM single loop in control periods between the speed loop and current loops are becoming smaller or even vanishing. Therefore, cascade control schemes seem to be unnecessary. In addition, considering the effects of disturbances and the variety of moments of inertia, this paper proposes a scheme using an adaptive non-cascade control method to design the controller, which merges speed loop and q-axis current loop into one single loop. First, an extended state observer (ESO) is employed to estimate the disturbances of the system. The estimated value is used in the feedforward compensation design to improve the capability of system anti-disturbance. Then, considering the performance degradation caused by inertia change, an adaptive control scheme is developed. By using inertia identification technology, the feedforward compensation gain can be tuned automatically according to the identification value. Several groups of simulations and experiments are carried out and the results demonstrate the effectiveness of the proposed scheme.

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Position-Mode Haptic-Based Control of Teleoperated Hydraulic Actuators

ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1 ◽

10.1115/dscc2011-6139 ◽

2011 ◽

Author(s):

Kurosh Zarei-nia ◽

Nariman Sepehri

Keyword(s):

Invariant Set ◽

Haptic Device ◽

Position Tracking ◽

Good Position ◽

View Point ◽

Hydraulic Actuator ◽

Control Laws ◽

Hydraulic Actuators ◽

Control Scheme ◽

On Line

A control scheme for teleoperation of hydraulic actuators, using a haptic device, is developed and experimentally evaluated in this paper. In the control laws, the position error between the displacement of the haptic device and the hydraulic actuator movement is used at both master and slave sides to maintain good position tracking at the actuator side while providing a haptic force to the operator. Lyapunov’s stability theory and LaSalle’s invariant set theorems are employed to prove the asymptotic stability of the system. It is shown that beside stability, the system performs well in terms of position tracking of the hydraulic actuator and providing a feel of telepresence to the operator. Proposed controller only needs system’s pressures and displacements that are easy to obtain via on-line measurements. Additionally, the controller does not need any information about the parameters of the system. These characteristics make the controller very attractive from the implementation view point.

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Rollover Mitigation Controller Development for Three-Wheeled Vehicle Using Active Front Steering

Mathematical Problems in Engineering ◽

10.1155/2015/918429 ◽

2015 ◽

Vol 2015 ◽

pp. 1-9 ◽

Cited By ~ 4

Author(s):

Raja Amer Azim ◽

Fahad Mumtaz Malik ◽

Waheed ul Haq Syed

Keyword(s):

Traffic Safety ◽

Load Transfer ◽

Sliding Mode ◽

Control Design ◽

Highway Traffic ◽

Parameter Uncertainties ◽

National Highway Traffic Safety ◽

Vehicle Simulation ◽

Active Front Steering ◽

Control Scheme

Three-wheeled vehicles are agile, less complex, but relatively more prone to rollover. The current study focuses on the rollover mitigation control design using active front steering for such vehicles. A lateral load transfer ratio (LLTR) adapted for a three-wheeled platform is presented. Sliding mode control design strategy has been devised which results in pseudo-direct control for roll dynamics of the vehicle. The lag in vehicle roll angle response has been managed using adaptive sliding surface. This concept can be extended for other vehicle configurations. The proposed control scheme is investigated for efficacy using a full vehicle simulation model of CarSim software and National Highway Traffic Safety Administration’s proposed Fishhook maneuver. The controller is able to limit the rollover propensity even with vehicle parameter uncertainties.

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Volitional PD computed torque control design of a 2-DOF finger model for cylindrical grip movement assistance with sEMG signal classification

10.1109/eircon52903.2021.9613706 ◽

2021 ◽

Author(s):

Jorge Luis Leyva Santiago ◽

Perez Rios ◽

David Arrustico ◽

Lina Cortez

Keyword(s):

Control Design ◽

Torque Control ◽

Signal Classification ◽

Semg Signal ◽

Computed Torque Control ◽

Finger Model ◽

Computed Torque

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Kinematics and Dynamics Modeling of a New 4-DOF Cable-Driven Parallel Manipulator

Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics ◽

10.4018/978-1-4666-3634-7.ch017 ◽

2013 ◽

pp. 249-265

Author(s):

Hamoon Hadian ◽

Yasser Amooshahi ◽

Abbas Fattah

Keyword(s):

Dynamic Model ◽

Parallel Manipulator ◽

Joint Space ◽

Kinematics And Dynamics ◽

Dynamics Modeling ◽

Kinematic Constraint ◽

Control Scheme ◽

Minimum Number ◽

Dynamical Properties ◽

Computed Torque

This paper addresses the kinematics and dynamics modeling of a 4-DOF cable-driven parallel manipulator with new architecture and a typical Computed Torque Method (CTM) controller is developed for dynamic model in SimMechanics. The novelty of kinematic architecture and the closed loop formulation is presented. The workspace model of mechanism’s dynamic is obtained in an efficient and compact form by means of natural orthogonal complement (NOC) method which leads to the elimination of the nonworking kinematic-constraint wrenches and also to the derivation of the minimum number of equations. To verify the dynamic model and analyze the dynamical properties of novel 4-DOF cable-driven parallel manipulator, a typical CTM control scheme in joint-space is designed for dynamic model in SimMechanics.

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