A coordinated turn controller for a fixed-wing aircraft

2018 ◽  
Vol 233 (5) ◽  
pp. 1728-1740
Author(s):  
José J Corona-Sánchez ◽  
Óscar Roberto Guzmán Caso ◽  
H Rodríguez-Cortés
Keyword(s):  
Control System ◽  
State Feedback ◽  
Closed Loop ◽  
Control Loop ◽  
Design Development ◽  
System Behavior ◽  
Closed Loop System ◽  
Partial Linearization ◽  
Heading Control ◽  
System Technique

This paper describes the design of a controller for a fixed-wing aircraft to make it perform coordinated turns. First, a state feedback partial linearization controller drives the airplane to carry out an ideal coordinated turn. A second control loop, inspired by the total heading control system technique, mixes the ailerons and rudder inputs to perform a coordinated turn considering the sideslip dynamics. The control design development gives new insights to establish the fundamental basis for the total heading control system. Simulations in an advanced flight simulator (X-Plane 10) are presented to show the closed-loop system behavior.

Simulation of the effects of load on hydraulic servo actuators

SIMULATION ◽  
1969 ◽  
Vol 12 (3) ◽  
pp. 145-151 ◽  
Author(s):  
Myron Glickman
Keyword(s):  
Control System ◽  
Closed Loop ◽  
Block Diagram ◽  
System Simulation ◽  
Loop System ◽  
General Description ◽  
Control Loop ◽  
Closed Loop System ◽  
Servo Actuator ◽  
Hydraulic Servo

Control system analysts are frequently called upon to include a hydraulic servo actuator as part of the loop in a complex closed-loop system simulation. This article presents a general description of several common types of hydraulic servo actuators and several methods for inclusion of the effects of load on the simulation of the actuator in the control loop. These methods are pre sented in block diagram form and are suitable for inclu sion in a larger simulation loop. The block diagrams themselves may be somewhat condensed and modified before inclusion in a larger simulation, but are presented here with all the details shown explicitly for clarity.

Fault tolerant heading control system design for Turac unmanned aerial vehicle

2016 ◽  
Vol 39 (3) ◽  
pp. 267-276 ◽  
Author(s):  
Burak Yuksek ◽  
N Kemal Ure ◽  
Fikret Caliskan ◽  
Gokhan Inalhan
Keyword(s):  
Kalman Filter ◽  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Closed Loop ◽  
Fault Tolerant ◽  
Fault Isolation ◽  
Loop System ◽  
Closed Loop System ◽  
Heading Control ◽  
Aerial Vehicle

In this study, a fault tolerant heading control system is designed for a one-third scale fixed wing vertical takeoff-and-landing unmanned aerial vehicle, Turac. A nonlinear six degrees-of-freedom (DoF) mathematical model is obtained and linearized at the calculated trim flight condition. A proportional heading control system is designed as a nominal horizontal flight controller. Detection and isolation of the faults that can occur during flight are performed by Kalman filters which are designed individually for each sensor output. After the fault isolation process the obtained fault data is fed to the reconfigurable Kalman filter. Then the feedback signal from the faulty sensor is blocked and the estimated output from the reconfigurable Kalman filter is fed to the control system. So, the closed-loop system could follow the reference signal without updating the controller’s parameters. Simulation studies are performed on the closed-loop system for faulty sensor situations.

The Swing Control of Cranes with Variable Rope Length Based on Linear Time Varying System Theory

2012 ◽  
Vol 461 ◽  
pp. 763-767
Author(s):  
Li Fu Wang ◽  
Zhi Kong ◽  
Xin Gang Wang ◽  
Zhao Xia Wu
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Linear Time ◽  
Feedback Stabilization ◽  
Time Varying ◽  
Closed Loop System ◽  
Overhead Cranes ◽  
Time Varying Systems ◽  
Time Invariant ◽  
Time Invariant System

In this paper, following the state-feedback stabilization for time-varying systems proposed by Wolovich, a controller is designed for the overhead cranes with a linearized parameter-varying model. The resulting closed-loop system is equivalent, via a Lyapunov transformation, to a stable time-invariant system of assigned eigenvalues. The simulation results show the validity of this method.

A Digital Algorithm for Near-Minimum-Time Control of Robot Manipulators

1987 ◽  
Vol 109 (4) ◽  
pp. 320-327 ◽  
Author(s):  
C. K. Kao ◽  
A. Sinha ◽  
A. K. Mahalanabis
Keyword(s):  
Control Algorithm ◽  
State Feedback ◽  
Closed Loop ◽  
Robot Manipulator ◽  
Minimum Time ◽  
State Feedback Control ◽  
Final States ◽  
Closed Loop System ◽  
Time Control ◽  
Digital Algorithm

A digital state feedback control algorithm has been developed to obtain the near-minimum-time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-plane to permit near-minimum-time response without violating the constraints on the actuator torques. The validity of this algorithm has been established using numerical simulations. A three-link manipulator is chosen for this purpose and the results are discussed for three different combinations of initial and final states.

Digital DC Speed Control System in Mine Hoist Application

2011 ◽  
Vol 219-220 ◽  
pp. 1017-1021
Author(s):  
Rui He ◽  
Yun Ping Ge
Keyword(s):  
Control System ◽  
Closed Loop ◽  
Speed Control ◽  
Closed Loop System ◽  
Pi Regulator ◽  
Control Precision ◽  
Speed Control System ◽  
Digital Trigger ◽  
Mine Hoist ◽  
Work Stability

Mine hoist shoulder important transport tasks. Through the analysis of the main circuit of mine hoist, this paper studies out ASCS digital DC speed control system whose core is microprocessor and whose hardware part constitutes digital trigger and double closed loop system. The software part not only achieves the system's digital PI regulator, logic switching, digital trigger phase shift, pulse channel selection and pulse width setting, but also realizes the systematic detection, monitoring, fault diagnosis, which improves the control precision and work stability of the system.

scholarly journals Comparing the Performance of Reference Trajectory Management and Controller Reconfiguration in Attitude Fault Tolerant Control

2018 ◽  
Vol 151 ◽  
pp. 04008
Author(s):  
Rouzbeh Moradi ◽  
Alireza Alikhani ◽  
Mohsen Fathi Jegarkandi
Keyword(s):  
Control Problem ◽  
Closed Loop ◽  
Fault Tolerant ◽  
Dynamic Performance ◽  
Fault Tolerant Control ◽  
Spacecraft Attitude ◽  
Reference Trajectory ◽  
System Behavior ◽  
Closed Loop System ◽  
Reference Trajectories

Reference trajectory management is a method to modify reference trajectories for the faulty system. The modified reference trajectories define new maneuvers for the system to retain its pre-fault dynamic performance. Controller reconfiguration is another method to handle faults in the system, for instance by adjusting the controller parameters (coefficients). Both of these two methods have been considered in the literature and are proven to be capable of handling various faults. However, the comparison of these two methods has not been considered sufficiently. In this paper, a controller reconfiguration mechanism and a reference trajectory management are proposed for the spacecraft attitude fault tolerant control problem. Then, these two methods are compared under the same conditions, and it is shown that the proposed controller reconfiguration has better performance than the proposed reference trajectory management. The reason is that the controller reconfiguration has more variables to modify the closed-loop system behavior.

Global fixed-time stabilization for a class of uncertain high-order nonlinear systems with dead-zone input nonlinearity

2018 ◽  
Vol 41 (7) ◽  
pp. 1888-1895
Author(s):  
Fangzheng Gao ◽  
Yanling Shang ◽  
Yuqiang Wu ◽  
Yanhong Liu
Keyword(s):  
Nonlinear Systems ◽  
State Feedback ◽  
Closed Loop ◽  
Dead Zone ◽  
Fixed Time ◽  
High Order ◽  
Closed Loop System ◽  
Sign Function ◽  
Input Nonlinearity ◽  
Power Integrator

This paper considers the problem of global fixed-time stabilization for a class of uncertain high-order nonlinear systems. One distinct characteristic of this work is that the system under consideration possesses the dead-zone input nonlinearity. By delicately combining the sign function with a power integrator technique, a state feedback controller is designed such that the states of the resulting closed-loop system converge to the origin within a fixed time. A simulation example is provided to illustrate the effectiveness of the proposed approach.

scholarly journals A stable proportional–proportional integral tracking controller with self-organizing fuzzy-tuned gains for parallel robots

2019 ◽  
Vol 16 (1) ◽  
pp. 172988141881995
Author(s):  
Francisco G Salas ◽  
Jorge Orrante-Sakanassi ◽  
Raymundo Juarez-del-Toro ◽  
Ricardo P Parada
Keyword(s):  
Stability Analysis ◽  
Performance Index ◽  
Closed Loop ◽  
Tracking Error ◽  
Parallel Robots ◽  
Control Loop ◽  
Closed Loop System ◽  
Proportional Integral ◽  
The Stability ◽  
Self Organizing

Parallel robots are nowadays used in many high-precision tasks. The dynamics of parallel robots is naturally more complex than the dynamics of serial robots, due to their kinematic structure composed by closed chains. In addition, their current high-precision applications demand the innovation of more effective and robust motion controllers. This has motivated researchers to propose novel and more robust controllers that can perform the motion control tasks of these manipulators. In this article, a two-loop proportional–proportional integral controller for trajectory tracking control of parallel robots is proposed. In the proposed scheme, the gains of the proportional integral control loop are constant, while the gains of the proportional control loop are online tuned by a novel self-organizing fuzzy algorithm. This algorithm generates a performance index of the overall controller based on the past and the current tracking error. Such a performance index is then used to modify some parameters of fuzzy membership functions, which are part of a fuzzy inference engine. This fuzzy engine receives, in turn, the tracking error as input and produces an increment (positive or negative) to the current gain. The stability analysis of the closed-loop system of the proposed controller applied to the model of a parallel manipulator is carried on, which results in the uniform ultimate boundedness of the solutions of the closed-loop system. Moreover, the stability analysis developed for proportional–proportional integral variable gains schemes is valid not only when using a self-organizing fuzzy algorithm for gain-tuning but also with other gain-tuning algorithms, only providing that the produced gains meet the criterion for boundedness of the solutions. Furthermore, the superior performance of the proposed controller is validated by numerical simulations of its application to the model of a planar three-degree-of-freedom parallel robot. The results of numerical simulations of a proportional integral derivative controller and a fuzzy-tuned proportional derivative controller applied to the model of the robot are also obtained for comparison purposes.

Observer-Based Control of a Class of Switched Fuzzy Systems

2014 ◽  
Vol 945-949 ◽  
pp. 2539-2542
Author(s):  
Hong Yang ◽  
Huan Huan Lü ◽  
Le Zhang
Keyword(s):  
Fuzzy System ◽  
Fuzzy Systems ◽  
Function Method ◽  
State Feedback ◽  
Closed Loop ◽  
External Disturbance ◽  
Asymptotically Stable ◽  
Closed Loop System ◽  
Lyapunov Function Method ◽  
Switching State

For the non-measurable states, a control of switched fuzzy systems is presented based on observer. Using switching technique and multiple Lyapunov function method, the fuzzy observer is built to ensure that for all allowable external disturbance the relevant closed-loop system is asymptotically stable. Moreover, switching strategy achieving system global asymptotic stability of the switched fuzzy system is given. In this model, a switching state feedback controller is presented. A simulation shows the feasibility and the effectiveness of the method.

Comparative Analysis of DC Motor Control System

2016 ◽  
Vol 817 ◽  
pp. 111-121 ◽  
Author(s):  
Wojciech Mitkowski ◽  
Marta Zagórowska ◽  
Waldemar Bauer
Keyword(s):  
Control System ◽  
Comparative Analysis ◽  
Pid Controller ◽  
Closed Loop ◽  
Control Method ◽  
Closed Loop System ◽  
Motor Shaft ◽  
Dc System ◽  
Dc Motor Control ◽  
Motor Control System

In this work we will present a control method for DC system – the so-called practical PID controller, where the inertia of both the derivative and the actuator is included. The original element in this paper consists of a comparative analysis of various controller stabilizing the position of motor shaft. In a system with ideal gain, K>0 ensures asymptotic stability of the closed-loop system. Taking into account this inertia along with the inertia of the derivative, we obtain limited values 0<Kp<Kgr. A similar restrictions apply to a system with delay.

Sign in / Sign up

Export Citation Format

Share Document