Path Planning of Attitude Maneuver for Hopping Robot with 2DOF Attitude Control Mechanism

2003 ◽  
Vol 2003 (0) ◽  
pp. 128
Author(s):  
S. Shimoda ◽  
T. Kubota ◽  
I. Nakatani
Keyword(s):  
Path Planning ◽  
Attitude Control ◽  
Control Mechanism ◽  
Hopping Robot ◽  
Attitude Maneuver

scholarly journals Dynamic Sliding Mode Controller with Variable Structure for Fast Satellite Attitude Maneuver

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Gao Shan ◽  
Li You ◽  
Xue Huifeng ◽  
Yao ShuYue
Keyword(s):  
Convergence Rate ◽  
Attitude Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
System Stability ◽  
System State ◽  
Satellite Attitude ◽  
Satellite Attitude Control ◽  
Attitude Maneuver ◽  
Mode Parameter

In order to deal with the low convergence rate of the standard sliding mode in satellite attitude control, a novel variable structure sliding mode is constructed in this paper by designing the update law of the sliding mode parameter. By implementing this method, the advantage such as simple structure and strong robustness of the standard sliding mode are maintained and the system convergence rate is largely improved. The fixed sliding mode parameter is modified, and the update law is designed. When the system state is away from the sliding mode surface, the parameter is fixed, and when the system state approaches the sliding mode surface, the parameter begins to update. The constraint on control torque and angular velocity is taken into consideration, and the constraint on control parameters is given to ensure that the system state do not exceed its upper bound. System stability is proved by the Lyapunov stability theorem, and the superiority of the proposed controller is demonstrated by numerical simulation.

scholarly journals Filling Path Planning and Polygon Operations for Wire Arc Additive Manufacturing Process

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Jiansheng Zhang ◽  
Qiuyun Wang ◽  
Guiqian Xiao ◽  
Jie Zhou
Keyword(s):  
High Temperature ◽  
Additive Manufacturing ◽  
Path Planning ◽  
Attitude Control ◽  
Hot Forging ◽  
Outer Contour ◽  
Hot Forging Die ◽  
Forging Die ◽  
Wire Arc Additive Manufacturing ◽  
Filling Path

To improve the service life of hot forging die, the additive manufacturing algorithm and additive manufacturing device for die remanufacturing are developed. Firstly, a compound filling algorithm in which the inner zone is filled by linear scanning and the outer contour is filled by offsetting is developed in order to solve the problems encountered in filling path planning for wire arc additive manufacturing (WAAM) like staircase effect at marginal division, degenerated edge at outer contour, programming difficulty, and so forth. Meanwhile, the attitude control algorithm of welding gun is proposed to control the angle between welding gun and welding path so as to improve the welding forming quality. Secondly, the high-temperature and low-temperature wear resistances of Fe-based and Ni-based alloy are tested. The results show that Ni-based alloy has higher high-temperature wear resistance. Finally, a disabled crankshaft hot forging die is selected for application test and the results show that, using the techniques discussed in this paper, welding materials can be saved by more than 50% and machining cost can be saved by more than 60%. In addition, the surface of automatic-repaired die is smooth without oxidation, collapse, and other defects after forging 3000 times, which is much better than that of manual-repaired die.

scholarly journals Development of attitude control system for hybrid airship vehicle

2018 ◽  
Vol 7 (4.13) ◽  
pp. 99
Author(s):  
Azizi Malek ◽  
M F Sedan ◽  
A S M Harithuddin
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Pid Controller ◽  
Control Mechanism ◽  
Attitude Control System ◽  
Flight Tests ◽  
Aerial Vehicle ◽  
The Mathematical Model ◽  
Monitoring Software ◽  
Acquisition Method

This paper documents and presents the development of attitude control system of Hybrid Airship Unmanned Aerial Vehicle (HAU) that should be able to change its attitude condition based on the response processed from the provided input. This is accomplished by data acquisition method that retrieves data from a flight controller and processes it into the control system without looking in deep on the mathematical model of the airship. Besides that, PID controller is used in order to create a good stable response for the hybrid airship. A working hybrid airship prototype was successfully developed and built, which is five meters in length and has four propellers that is symmetrically distanced to each other. A quadcopter attitude control mechanism is adopted into the hybrid airship to allow for good hovering capability and direct pure attitude control. Outdoor flight tests have been conducted to prove its stability in responding to attitude input given to the hybrid airship attitude controller. A data monitoring software is also written to make the data observation on the behaviour of the hybrid airship response to be easier and understandable. Result demonstrates that the hybrid airship does response to pitch, roll and yaw input from the operator, albeit the lack response stability and speed which can be improved in conservative continuation of research on the airship attitude control system.  

scholarly journals Adaptive Backstepping Attitude Control Law with L2-Gain Performance for Flexible Spacecraft

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Rui-Qi Dong ◽  
Yu-Yao Wu ◽  
Ying Zhang ◽  
Ai-Guo Wu
Keyword(s):  
Attitude Control ◽  
External Disturbance ◽  
Performance Criterion ◽  
Lyapunov Theory ◽  
Flexible Spacecraft ◽  
Control Law ◽  
Adaptive Backstepping ◽  
Unknown Parameters ◽  
Inertia Matrix ◽  
Attitude Maneuver

In this paper, an observer-based adaptive backstepping attitude maneuver controller (briefly, OBABC) for flexible spacecraft is presented. First, an observer is constructed to estimate the flexible modal variables. Based on the proposed observer, a backstepping control law is presented for the case where the inertia matrix is known. Further, an adaptive law is developed to estimate the unknown parameters of the inertia matrix of the flexible spacecraft. By utilizing Lyapunov theory, the proposed OBABC law can guarantee the asymptotical convergence of the closed-loop system in the presence of the external disturbance, incorporating with the L2-gain performance criterion constraint. Simulation results show that the attitude maneuver can be achieved by the proposed observer-based adaptive backstepping attitude control law.

scholarly journals Collision-Free Path Planning Method for Robots Based on an Improved Rapidly-Exploring Random Tree Algorithm

2020 ◽  
Vol 10 (4) ◽  
pp. 1381 ◽  
Author(s):  
Xinda Wang ◽  
Xiao Luo ◽  
Baoling Han ◽  
Yuhan Chen ◽  
Guanhao Liang ◽  
...  
Keyword(s):  
Path Planning ◽  
Control Mechanism ◽  
Random Tree ◽  
High Dimensional ◽  
Control Factor ◽  
Sampling Area ◽  
Planning Algorithm ◽  
Search Speed ◽  
The Many ◽  
Path Planning Algorithm

Sampling-based methods are popular in the motion planning of robots, especially in high-dimensional spaces. Among the many such methods, the Rapidly-exploring Random Tree (RRT) algorithm has been widely used in multi-degree-of-freedom manipulators and has yielded good results. However, existing RRT planners have low exploration efficiency and slow convergence speed and have been unable to meet the requirements of the intelligence level in the Industry 4.0 mode. To solve these problems, a general autonomous path planning algorithm of Node Control (NC-RRT) is proposed in this paper based on the architecture of the RRT algorithm. Firstly, a method of gradually changing the sampling area is proposed to guide exploration, thereby effectively improving the search speed. In addition, the node control mechanism is introduced to constrain the extended nodes of the tree and thus reduce the extension of invalid nodes and extract boundary nodes (or near-boundary nodes). By changing the value of the node control factor, the random tree is prevented from falling into a so-called “local trap” phenomenon, and boundary nodes are selected as extended nodes. The proposed algorithm is simulated in different environments. Results reveal that the algorithm greatly reduces the invalid exploration in the configuration space and significantly improves planning efficiency. In addition, because this method can efficiently use boundary nodes, it has a stronger applicability to narrow environments compared with existing RRT algorithms and can effectively improve the success rate of exploration.

Optimal Stabling of Attitude Maneuver for a Special Satellite With Reaction Wheel Actuators

2010 ◽  
Author(s):  
Seyed Hasan Miri Roknabadi ◽  
Mohamad Fakhari Mehrjardi ◽  
Mehran Mirshams
Keyword(s):  
Attitude Control ◽  
Equations Of Motion ◽  
Low Energy ◽  
Dynamic Equations ◽  
Satellite Motion ◽  
Reaction Wheel ◽  
State Equations ◽  
Time Consumption ◽  
Attitude Maneuver ◽  
Simulation Results

This paper presents an optimal attitude maneuver by Reaction Wheels to achieve desired attitude for a Satellite. At first, Dynamic Equations of motion for a satellite with just three Reaction Wheels of its active actuators are educed, and then State Equations of this system are obtained. An optimal attitude control with the LQR method has exerted for a distinct satellite by its Reaction Wheels. As a result simulation has presented an optimal effort by calculated Gain matrix to achieve desired attitude for chosen Satellite. It shows that satellite becomes stable in desired attitude with a low energy and time consumption. Furthermore equations derivation, coupling of electrical Reaction Wheel equations with dynamic equations of satellite motion, linearizes them and Reaction wheel saturation avoidance approaches are innovative. Simulation results, accuracy of achieving desired attitude and satellite stability support this statement.

Attitude Dynamics and Control of Liquid Filled Spacecraft with Large Amplitude Fuel Slosh

2016 ◽  
Vol 33 (1) ◽  
pp. 125-136 ◽  
Author(s):  
M.-L. Deng ◽  
B.-Z. Yue
Keyword(s):  
Control Strategy ◽  
Attitude Control ◽  
Large Amplitude ◽  
Lyapunov Theory ◽  
Attitude Dynamics ◽  
Equivalent Mechanical Model ◽  
Attitude Maneuver ◽  
Dynamics And Control ◽  
Fuel Slosh ◽  
And Control

AbstractThis paper focuses on the attitude dynamics and control of liquid filled spacecraft, and the large amplitude fuel slosh dynamics is included by using an improved moving pulsating ball model. The moving pulsating ball model is an equivalent mechanical model that is capable of imitating the whole liquid reorientation process, specifically for the occurrence of large amplitude slosh. This model is improved by incorporating a static capillary force and an effective mass factor. The improvements on this model are validated with previously published experiment results. The spacecraft attitude maneuver is implemented by the momentum transfer technique, and the feedback control strategy is designed based on Lyapunov theory. The effects of liquid viscosity, tank location and desired steady time on sloshing torque and control torque are investigated. The attitude control strategy applied in this paper is proved to be applicable for the coupled liquid filled spacecraft system. The obtained conclusions are useful to aid in liquid filled spacecraft overall design.

Sign in / Sign up

Export Citation Format

Share Document