604 Damping Control of Sloshing in Cylindrical Container on Cart with Active Vibration Reducer of 6-DOF Parallel Link Type : Using both Reference Model Following Control and Optimal Servo Control

2014 ◽  
Vol 2014.52 (0) ◽  
pp. _604-1_-_604-2_
Author(s):  
Masahiro FUKUDA ◽  
Masafumi HAMAGUCHI ◽  
Takao TANIGUCHI
Keyword(s):  
Reference Model ◽  
Servo Control ◽  
Cylindrical Container ◽  
Link Type ◽  
Damping Control ◽  
Model Following Control ◽  
Model Following ◽  
Active Vibration ◽  
Parallel Link

scholarly journals 915 Damping Control of Carrier Platform on Cart with 6 DOF Parallel Link-type Active Vibration Reducer

2011 ◽  
Vol 2011.49 (0) ◽  
pp. 271-272
Author(s):  
Ginya URAGAWA ◽  
Masafumi HAMAGUCHI ◽  
Takao TANIGUCHI
Keyword(s):  
Link Type ◽  
Damping Control ◽  
Active Vibration ◽  
Parallel Link

Sloshing Damping Control in a Cylindrical Container on a Wheeled Mobile Robot Using Dual-Swing Active-Vibration Reduction

2009 ◽  
Vol 21 (5) ◽  
pp. 642-646 ◽  
Author(s):  
Masafumi Hamaguchi ◽  
◽  
Takao Taniguchi
Keyword(s):  
Kalman Filter ◽  
Mobile Robot ◽  
Vibration Reduction ◽  
Wheeled Mobile Robot ◽  
Experimental Results ◽  
Cylindrical Container ◽  
Damping Control ◽  
Direction Of Movement ◽  
Active Vibration ◽  
Servo Controller

Damping control we propose for sloshing in cylindrical containers carried by a wheeled mobile robot enables the container to tilt independently in the direction of movement and orthogonally through the use of a dual-swing active-vibration reducer. The robot follows a curved sloping path. Sloshing generated by robot movement is damped by the vibration reducer, which keeps the container level on a slope. Vibration reduction is managed by an optimal servo controller having a Kalman filter. Experimental results demonstrate our damping control proposal's usefulness and feasibility.

Model-Based Maneuvering Controls for Autonomous Underwater Vehicles

1992 ◽  
Vol 114 (4) ◽  
pp. 614-622 ◽  
Author(s):  
A. J. Healey
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Reference Model ◽  
Autonomous Underwater Vehicles ◽  
Robustness Analysis ◽  
Underwater Vehicles ◽  
Feedback Systems ◽  
Model Based ◽  
Model Following Control ◽  
Handling Characteristics ◽  
Model Following

This paper proposes the development of a model following autopilot system for an Autonomous Underwater Vehicle (AUV) depth changing control. The parameters to command a maneuver are generated off-line and selected as appropriate by the vehicle’s autonomous control system. A series of such preprogrammed maneuvers can be stored in an on-board computer, and used as command generation systems for the autopilot. The paper presents a linear model following control (LMFC) design based on the open-loop linearized vehicle model as the reference model, a robustness analysis of the scheme and simulation results of response in the diveplane using the full nonlinear vehicle system equations. LMFC has been proposed for aircraft where certain desirable handling characteristics based on an arbitrary model are required or where decoupled control for Control Configured Vehicle (CCV) performance is needed. It is shown here that this model-based LMFC autopilot for underwater vehicles exhibits relatively robust behavior under conditions of parameter uncertainty and non-linearity which is not worse than the equivalent LQR/LTR for linear output feedback systems. Also, a tailored transient response is provided, conducive to near time optimal response.

An Adaptive Model Following Control for Robotic Manipulators

1983 ◽  
Vol 105 (3) ◽  
pp. 143-151 ◽  
Author(s):  
A. Balestrino ◽  
G. De Maria ◽  
L. Sciavicco
Keyword(s):  
Reference Model ◽  
Design Procedure ◽  
Pulse Amplitude ◽  
Robotic Manipulators ◽  
Adaptive Model ◽  
Control Structures ◽  
Model Following Control ◽  
Model Following ◽  
Advanced Control ◽  
Hyperstability Theory

The increased demand on robotic manipulator performances leads to the use of advanced control structures. An adaptive model following control system for robotic manipulators is developed via hyperstability theory. A new control algorithm is proposed that produces a discontinuous control signal, similar to a pulse amplitude signal, so that particular trajectories, referred as sliding modes, occur. The design procedure is simple and effective and always assures the asymptotic stability in the large. The decoupling properties can be achieved by a suitable choice of the reference model. A case study is developed by numerical simulation.

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