scholarly journals Modeling of a heavy-lift airship carrying a payload by a cable-driven parallel manipulator

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141986176 ◽  
Author(s):  
Fida Ben Abdallah ◽  
Naoufel Azouz ◽  
Lotfi Beji ◽  
Azgal Abichou
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Sliding Mode ◽  
Parallel Robot ◽  
Combined System ◽  
Inverse Dynamic ◽  
Safe Delivery ◽  
Heavy Lift ◽  
Unlimited Access ◽  
Loading And Unloading

In this article, we present a preliminary analysis of a heavy-lift airship carrying a payload through a cable-driven parallel robot. With unlimited access to isolated locations around the globe, heavy-lift airship enables affordable and safe delivery of heavy cargo thanks to its vertical takeoff and landing capabilities. By considering the airship and the cable-driven parallel robot as a combined system, the kinematic and dynamic models are developed. The choice of the proposed decentralized control structure is justified by the weak coupling of the two subsystems (i.e. airship and cable-driven parallel robot) which makes it possible to control the above two subsystems independently. A robust sliding mode control, capable of auto-piloting and controlling the airship, is developed. Furthermore, an inverse dynamic controller is applied to the cable-driven parallel robot in order to ensure loading and unloading phase. The feature of the proposed control system is that the coupled dynamics between the airship and the cable-driven parallel robot are explicitly incorporated into control system design, without any simplifying assumption. Numerical simulation results are presented and a stability analysis is provided to confirm the accuracy of our derivations.

Two-Loop System with Reference Model for Control of Spatial Movement of Cargo Underwater Vehicle

2021 ◽  
Vol 22 (3) ◽  
pp. 134-144
Author(s):  
V. F. Filaretov ◽  
D. A. Yukhimets
Keyword(s):  
Control System ◽  
Control Systems ◽  
Dynamic Models ◽  
High Efficiency ◽  
Reference Model ◽  
Dynamic Properties ◽  
Autonomous Underwater Vehicles ◽  
Nonlinear Controller ◽  
Combined System ◽  
Spatial Trajectories

Currently, autonomous underwater vehicles (AUV) are increasingly used to perform tasks related to the maintenance of underwater communications and various underwater production complexes, as well as performing underwater technological operations. To effectively perform these operations, AUV must have high-quality control systems that will ensure their accurate movement both along long spatial trajectories formed during their movement to the objects of work, and when performing complex maneuvers near underwater infrastructure objects. At the same time, the main difficulty that arises in the process of synthesis of AUV control systems is the significant non-linearity of the dynamic models of these control objects, the presence of interactions between their degrees of freedom, as well as the uncertainty and variability of their parameters. In this paper, we propose a method for synthesizing the spatial motion control system of the AUV, which allows us to take into account these negative effects. This system contains two loops. The first loop includes a combined system containing a nonlinear controller to achieve the desired dynamic characteristics of the AUV, when its parameters are equal to the nominal values, and a controller with self-tuning according to the reference model, which provides compensation for an unknown or variable part of the parameters. In this case, the parameters of the controller with the reference model are selected to reduce the possible amplitude of the discontinuous signal for controlling the AUV velocity. The second loop is a non-linear position controller that allows to take into account the dynamic properties of the velocity control loop and the kinematic properties of the AUV. The advantage of the proposed control system in comparison with traditional ones based on PID controllers is a higher control accuracy when moving along complex spatial trajectories, regardless of changes in the AUV parameters. The simulation results confirmed the high efficiency of the synthesized two-loop control system.

scholarly journals A Review of Active Yaw Control System for Vehicle Handling and Stability Enhancement

2014 ◽  
Vol 2014 ◽  
pp. 1-15 ◽  
Author(s):  
M. K. Aripin ◽  
Yahaya Md Sam ◽  
Kumeresan A. Danapalasingam ◽  
Kemao Peng ◽  
N. Hamzah ◽  
...  
Keyword(s):  
Control System ◽  
Tracking Control ◽  
Dynamic Models ◽  
Sliding Mode ◽  
Stability Control ◽  
Composite Nonlinear Feedback ◽  
Vehicle Handling ◽  
Yaw Rate ◽  
Yaw Stability ◽  
Stability Control System

Yaw stability control system plays a significant role in vehicle lateral dynamics in order to improve the vehicle handling and stability performances. However, not many researches have been focused on the transient performances improvement of vehicle yaw rate and sideslip tracking control. This paper reviews the vital elements for control system design of an active yaw stability control system; the vehicle dynamic models, control objectives, active chassis control, and control strategies with the focus on identifying suitable criteria for improved transient performances. Each element is discussed and compared in terms of their underlying theory, strengths, weaknesses, and applicability. Based on this, we conclude that the sliding mode control with nonlinear sliding surface based on composite nonlinear feedback is a potential control strategy for improving the transient performances of yaw rate and sideslip tracking control.

scholarly journals Integrated Guidance and Control Based Air-to-Air Autonomous Attack Occupation of UCAV

2016 ◽  
Vol 2016 ◽  
pp. 1-18
Author(s):  
Chang Luo ◽  
Jie Wang ◽  
Hanqiao Huang ◽  
Pengfei Wang
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Control Method ◽  
Sliding Mode ◽  
Search Algorithm ◽  
Pattern Search ◽  
Adaptive Sliding Mode Control ◽  
Guidance And Control ◽  
Integrated Guidance And Control ◽  
And Control

An approach of air-to-air autonomous attack occupation for Unmanned Combat Aerial Vehicles (UCAVs) is proposed to improve attack precision and combat effectiveness. According to the shortage of UCAV in the task of attack occupation, kinematic and dynamic models of UCAV and missile loaded on it are formed. Then, attack zone and no-escape zone are calculated by pattern search algorithm, and the optimum attack position is indicated. To arrive at the optimum attack position accurately with restriction of gesture, a novel adaptive sliding mode control method is suggested to design the integrated guidance and control system of UCAV in the process of autonomous attack occupation. Key parameters of the control system are adaptively regulated, which further economize control energy at the same time. The simulation results show that compared with traditional methods our approach can guide the UCAV to the optimum attack position with stable gesture and economize nearly 25% control energy.

scholarly journals Study on Oil Pressure Characteristics and Trajectory Tracking Control in Shift Process of Wet-Clutch for Electric Vehicles

2016 ◽  
Vol 2016 ◽  
pp. 1-11 ◽  
Author(s):  
Junqiu Li ◽  
Yihe Wang ◽  
Jianwen Chen ◽  
Zongping He
Keyword(s):  
Control System ◽  
Trajectory Tracking ◽  
Dynamic Models ◽  
Control Method ◽  
Sliding Mode ◽  
Hydraulic Control ◽  
Shift Quality ◽  
Wet Clutch ◽  
Tracking Model ◽  
Hydraulic Control System

Accurate control of oil pressure of wet-clutch is of great importance for improving shift quality. Based on dynamic models of two-gear planetary transmission and hydraulic control system, a trajectory tracking model of oil pressure was built by sliding mode control method. An experiment was designed to verify the validity of hydraulic control system, through which the relationship between duty cycle of on-off valve and oil pressure of clutch was determined. The tracking effect was analyzed by simulation. Results showed that oil pressure could follow well the optimal trajectory and the shift quality was effectively improved.

scholarly journals Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 747
Author(s):  
Mai The Vu ◽  
Tat-Hien Le ◽  
Ha Le Nhu Ngoc Thanh ◽  
Tuan-Tu Huynh ◽  
Mien Van ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Optimal Allocation ◽  
Position Control ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Ocean Current ◽  
Model Uncertainties ◽  
Control Module ◽  
Dynamic Sliding Mode

Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to maintain UVs stayed at the desired static position permanently under these conditions. Therefore, in this study, a nonlinear dynamics and robust positioning control of the over-actuated autonomous underwater vehicle (AUV) under the effects of ocean current and model uncertainties are presented. First, a motion equation of the over-actuated AUV under the effects of ocean current disturbances is established, and a trajectory generation of the over-actuated AUV heading angle is constructed based on the line of sight (LOS) algorithm. Second, a dynamic positioning (DP) control system based on motion control and an allocation control is proposed. For this, motion control of the over-actuated AUV based on the dynamic sliding mode control (DSMC) theory is adopted to improve the system robustness under the effects of the ocean current and model uncertainties. In addition, the stability of the system is proved based on Lyapunov criteria. Then, using the generalized forces generated from the motion control module, two different methods for optimal allocation control module: the least square (LS) method and quadratic programming (QP) method are developed to distribute a proper thrust to each thruster of the over-actuated AUV. Simulation studies are conducted to examine the effectiveness and robustness of the proposed DP controller. The results show that the proposed DP controller using the QP algorithm provides higher stability with smaller steady-state error and stronger robustness.

scholarly journals Sliding Mode Robust Control of a Wire-Driven Parallel Robot Based on HJI Theory and a Disturbance Observer

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 215235-215245
Author(s):  
Yuqi Wang ◽  
Qi Lin ◽  
Jiacai Huang ◽  
Lei Zhou ◽  
Jinjiang Cao ◽  
...  
Keyword(s):  
Robust Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Parallel Robot

scholarly journals Research on an Improved Sliding Mode Sensorless Six-Phase PMSM Control Strategy Based on ESO

Electronics ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 1292
Author(s):  
Hanying Gao ◽  
Guoqiang Zhang ◽  
Wenxue Wang ◽  
Xuechen Liu
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Sliding Mode ◽  
High Reliability ◽  
Permanent Magnet Synchronous Motor ◽  
Torque Ripple ◽  
Estimation Accuracy ◽  
Switching Function ◽  
Motor Speed ◽  
Rotor Position

The six-phase motor control system has low torque ripple, low harmonic content, and high reliability; therefore, it is suitable for electric vehicles, aerospace, and other applications requiring high power output and reliability. This study presents a superior sensorless control system for a six-phase permanent magnet synchronous motor (PMSM). The mathematical model of a PMSM in a stationary coordinate system is presented. The information of motor speed and position is obtained by using a sliding mode observer (SMO). As torque ripple and harmonic components affect the back electromotive force (BEMF) estimated value through the traditional SMO, the function of the frequency-variable tracker of the stator current (FVTSC) is used instead of the traditional switching function. By improving the SMO method, the BEMF is estimated independently, and its precision is maintained under startup or variable-speed states. In order to improve the estimation accuracy and resistance ability of the observer, the rotor position error was taken as the disturbance term, and the third-order extended state observer (ESO) was constructed to estimate the rotational speed and rotor position through the motor mechanical motion equation. Finally, the effectiveness of the method is verified by simulation and experiment results. The proposed control strategy can effectively improve the dynamic and static performance of PMSM.

Sliding Mode Control for Wheeled Inverted Pendulum

2014 ◽  
Vol 971-973 ◽  
pp. 714-717 ◽  
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Qing Yi He ◽  
Ka Tian
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
High Performance ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Experimental Results ◽  
Control Law ◽  
Collaborative Simulation ◽  
Mode Control ◽  
Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

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