G1500-2-4 An Attitude Control Teststand for Three Dimensional Motion Of Experimental VTOL.

2010 ◽  
Vol 2010.5 (0) ◽  
pp. 321-322
Author(s):  
Takeshi MARUKI ◽  
Shohei NIWA
Keyword(s):  
Attitude Control ◽  
Three Dimensional

Distributed Constrained Attitude and Position Control Using Graph Laplacians

2010 ◽  
Author(s):  
Innocent Okoloko ◽  
Yoonsoo Kim
Keyword(s):  
Attitude Control ◽  
Position Control ◽  
Dimensional Space ◽  
Stochastic Matrix ◽  
Three Dimensional ◽  
Laplacian Matrix ◽  
Semidefinite Program ◽  
Graph Theoretic ◽  
Graph Laplacians ◽  
Quadratically Constrained

We present a graph theoretic and optimization based method for attitude and position consensus of a team of communicating vehicles navigating in three dimensional space. Coordinated control of such vehicles has applications in planetary scale mobile sensor networks, and multiple vehicle navigation in general. Using the Laplacian matrix of the communication graph, and attitude quaternions, a synthesis of the optimal stochastic matrix that drives the attitudes to consensus, is done, by solving a constrained semidefinite program. This novel methodology attempts to extend quadratically constrained attitude control (Q-CAC), to the consensus framework. The solutions obtained are used to realize coordinated rendezvous, and formation acquisition, in the presence of static and dynamic obstacles.

Neural Networks Based Attitude Decoupling Control for AUV with X-Shaped Fins

2013 ◽  
Vol 819 ◽  
pp. 222-228 ◽  
Author(s):  
Xiu Jun Sun ◽  
Jian Shi ◽  
Yan Yang
Keyword(s):  
Neural Networks ◽  
Attitude Control ◽  
Autonomous Underwater Vehicle ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Mathematic Model ◽  
On Line ◽  
The Neural Networks ◽  
Vehicle Motion ◽  
Three Dimensional Space

Attitude control in three-dimensional space for AUV (autonomous underwater vehicle) with x-shaped fins is complicated but advantageous. Yaw, pitch and roll angles of the vehicle are all associated with deflection angle of each fin while navigating underwater. In this paper, a spatial motion mathematic model of the vehicle is built by using theorem of momentum and angular momentum, and the hydrodynamic forces acting on x-shaped fins and three-blade propeller are investigated to clarify complex principle of the vehicle motion. In addition, the nonlinear dynamics equation which indicates the coupling relationship between attitude angles of vehicle and rotation angles of x-shaped fins is derived by detailed deduction. Moreover, a decoupling controller based on artificial neural networks is developed to address the coupling issue exposed in attitude control. The neural networks based controller periodically calculates and outputs deflection angles of fins according to the attitude angles measured with magnetic compass, thus the vehicles orientation can be maintained. By on-line training, twenty four weights in this controller converged according to index function.

Experimental verification of a control law for the position and attitude of two objects using multiple coils

2017 ◽  
Vol 28 (17) ◽  
pp. 2450-2457 ◽  
Author(s):  
Ayako Torisaka ◽  
Sho Masuda ◽  
Satoru Ozawa ◽  
Nobuyuki Kobayashi ◽  
Hiroshi Yamakawa
Keyword(s):  
Experimental Verification ◽  
Relative Position ◽  
Attitude Control ◽  
Control Method ◽  
Three Dimensional ◽  
Current Control ◽  
Space Structures ◽  
Electromagnetic System ◽  
Magnetic Forces ◽  
Dipole System

This article presents a method for relative position and attitude control for reconfigurable space structures using magnetic force with a multi-dipole system. This technology can be applied to the docking phases of space structures that can restructure themselves by assembling basic structural units. The focus of this research is on current control of dipoles, which produces strong nonlinear magnetic forces, and on the development of a method to control a strong nonlinear electromagnetic system. In a previous study, the feasibility of using this method to perform relative position and attitude control was investigated by conducting a series of three-dimensional simulations of position and attitude control. In this study, experimental verification of the control method is conducted to determine whether magnetic forces can be used to correct position and attitude simultaneously. The good agreement obtained between the simulation results and the experimental results confirms the effectiveness of our proposed method.

Robust attitude control of the three-dimensional unknown chaotic satellite system

2021 ◽  
pp. 014233122110561
Author(s):  
Muhammad Shafiq ◽  
Israr Ahmad ◽  
O Abdullah Almatroud ◽  
M Mossa Al-Sawalha
Keyword(s):  
Attitude Control ◽  
Closed Loop ◽  
Three Dimensional ◽  
Adaptive Controller ◽  
The State ◽  
Feedback Gain ◽  
State Variables ◽  
Nonlinear Controller ◽  
Model Uncertainties ◽  
Control Effort

This paper proposes a novel continuous-time robust direct adaptive controller for the attitude control of the three-dimensional unknown chaotic spacecraft system. It considers that the plant’s nonlinear terms, exogenous disturbances, and model uncertainties are unknown and bounded; the controller design is independent of the system’s nonlinear terms. These controller attributes flourish the robust performance of the closed-loop and establish smooth state vector convergence to zero. The proposed controller consists of three parts: (1) a linear controller establishes the stability of the closed-loop at the origin, (2) a nonlinear controller component that autonomously adjusts the feedback gain, and (3) a nonlinear adaptive controller compensates for the model uncertainties and external disturbances using the online estimates of bounds and model uncertainties. The output of this part remains within a given upper and lower bound. The feedback controller gain is large when the state variables are away from the origin and become small in the origin’s vicinity. This feature is novel and contributes to the synthesis of smooth control effort that establishes robust fast and oscillation-free convergence of the state variables to zero. The Lyapunov direct stability analysis assures the global asymptotic robust stability of the closed-loop. Computer simulations and comparative analysis are included to verify the theoretical findings.

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