scholarly journals Stabilization of UAV using Delta Sigma Modulator based controller

2018 ◽  
Vol 7 (3.34) ◽  
pp. 198
Author(s):  
V Vinoth kumar ◽  
K Diwakar ◽  
E Balasubramanian
Keyword(s):  
Control Algorithm ◽  
Design Development ◽  
External Disturbances ◽  
Rotor Systems ◽  
Delta Sigma Modulator ◽  
Delta Sigma ◽  
Highly Nonlinear ◽  
Control Research ◽  
Dynamics And Control ◽  
And Control

The design development and control of Unmanned Aerial Vehicles (UAV’s) have stimulated great significance in the automatic control research for the past 2 decades.  In specific, Quad rotor systems are a promising platform in the area of Uthe AV research, due to its simple in construction, maintenance, ability to hover, and their vertical takeoff and landing (VTOL) capability. The dynamics and control of quad rotor are highly nonlinear and under actuated so it is considered as a test-rig to verify any new proposed nonlinear control algorithm. Different control algorithms were proposed and implemented to stabilize the UAV attitude, and altitude. Adaptive control and navigation algorithms also implemented in UAV platform to ensure the maneuvering against the internal and external disturbances. The proposed research paper explains the implementation of the developed digital control algorithm Delta-sigma modulatoan r (DSM) based controller for UAV to enhance the robustness.

scholarly journals Stabilization of UAV using delta sigma modulator

2018 ◽  
Vol 7 (2.33) ◽  
pp. 461
Author(s):  
V Vinoth Kumar ◽  
E Balasubramanian ◽  
S Mano
Keyword(s):  
Control Algorithm ◽  
Design Development ◽  
External Disturbances ◽  
Rotor Systems ◽  
Delta Sigma Modulator ◽  
Delta Sigma ◽  
Vertical Takeoff And Landing ◽  
Control Research ◽  
Dynamics And Control ◽  
And Control

The design development and control of Unmanned Aerial Vehicles (UAV’s) have stimulated great significance in the automatic control research for the past 2 decade. In specific, Quad rotor systems are promising platform in the area of UAV research, due to its simple in construction, maintenance, ability to hover, and their vertical takeoff and landing (VTOL) capability. The dynamics and control of quad rotor are highly non-linear and under actuated so it is consider as a test-rig to verify any new proposed nonlinear control algorithm. Different control algorithms were proposed and implemented to stabilize the UAV attitude, and altitude. Adaptive control and navigation algorithms also implemented in UAV platform to ensure the maneuvering against the internal and external disturbances. The proposed research paper explains the implementation of developed digital control algorithm Delta-sigma modulator (DSM) based controller for UAV to enhance the robustness.  

Dynamics and Control of Crane Payloads That Bounce and Pitch During Hoisting

2009 ◽  
Author(s):  
Jisup Yoon ◽  
William Singhose ◽  
Joshua Vaughan ◽  
Gabriel Ramirez ◽  
Michael Kim ◽  
...  
Keyword(s):  
Control Algorithm ◽  
Theoretical Models ◽  
Input Shaping ◽  
Dynamic Effects ◽  
Efficient Operation ◽  
Tower Crane ◽  
Control Research ◽  
Dynamics And Control ◽  
And Control ◽  
Input Shaping Control

The natural sway of crane payloads is detrimental to safe and efficient operation. Most crane control research has focused on oscillation induced by motion of the overhead trolley that is perpendicular to the vertical suspension cables. Little consideration has been given to bouncing oscillation in the hoist direction and pitching oscillation with respect to mass center of the payload. These dynamic effects arise in cases when the suspension cables are very long. These oscillations may interfere with the ability of the crane operators to accurately unload the payload at its desired position and orientation. This paper presents a method for generating shaped commands that suppress payload oscillations of bouncing and pitching. Theoretical models are initially used to develop and evaluate the input-shaping control algorithm. Then, experiments performed on a portable tower crane are used to demonstrate the improved response provided by the proposed approach.

Implementation of State and Disturbance Estimation for Quadrotor Control Using Extended High-Gain Observers

2016 ◽  
Author(s):  
Connor J. Boss ◽  
Joonho Lee ◽  
Charles Carvalho de Aguiar ◽  
Jongeun Choi
Keyword(s):  
Control Algorithm ◽  
High Gain ◽  
Dynamic Inversion ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Disturbance Estimation ◽  
Sample Data ◽  
Estimation And Control ◽  
Control Forces ◽  
And Control

This paper proposes a discrete-time, multi-time-scale estimation and control design for quadrotors in the presence of external disturbances and model uncertainties. Assuming that not all state measurements are available, they will need to be estimated. The sample-data Extended High-Gain Observers are used to estimate unmeasured states, system uncertainties, and external disturbances. Discretized dynamic inversion utilizes those estimates and deals with an uncertain principal inertia matrix. In the plant dynamics, the proposed control forces the rotational dynamics to be faster than the translational dynamics. Numerical simulations and experimental results verify the proposed estimation and control algorithm. All sensing and computation is done on-board the vehicle.

Dynamics and Control of Electroporation

2008 ◽  
Author(s):  
Susan Basile ◽  
Xiaopeng Zhao ◽  
Mingjun Zhang
Keyword(s):  
Drug Delivery ◽  
Bifurcation Analysis ◽  
Control Strategy ◽  
Control Algorithm ◽  
Pore Radius ◽  
Dynamical Analysis ◽  
Dimensional Model ◽  
Electric Pulses ◽  
Dynamics And Control ◽  
And Control

Electroporation has become an important tool for drug delivery such as gene therapy. The technique uses electric pulses to create transient pores in the cell membrane. To ensure proper uptake of targeted molecules, it is essential to create sufficiently large pores, which remain open long enough. In this work, we explore evolution of the pores using dynamical analysis and control of electroporation based on a simplified two-dimensional model. A detailed bifurcation analysis reveals the existence of saddle-node bifurcations, which induce hysteresis into the system dynamics. The bifurcation analysis also sheds light on the relation between the applied voltage and the pore radius. Based on the dynamics and bifurcation analysis, we design a feedback control algorithm that is able to achieve any desired pore size. Numerical examples demonstrate the control strategy is robust. The control algorithm will improve the operation of electroporation in drug delivery.

scholarly journals Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Mohan Santhakumar
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Model Reference Control ◽  
Control Scheme ◽  
Underwater Manipulator ◽  
Dynamics And Control ◽  
And Control

This study addresses the detailed modeling and simulation of the dynamic coupling between an underwater vehicle and manipulator system. The dynamic coupling effects due to damping, restoring, and inertial effects of an underwater manipulator mounted on an autonomous underwater vehicle (AUV) are analyzed by considering the actuator and sensor characteristics. A model reference control (MRC) scheme is proposed for the underwater vehicle-manipulator system (UVMS). The effectiveness of the proposed control scheme is demonstrated using numerical simulations along with comparative study between conventional proportional-integral-derivative (PID) control. The robustness of the proposed control scheme is also illustrated in the presence of external disturbances and parameter uncertainties.

On the Dynamics and Control of Robotic Manipulators with an Automatic Balancing Mechanism

1987 ◽  
Vol 201 (1) ◽  
pp. 25-34 ◽  
Author(s):  
W K Chung ◽  
H S Cho
Keyword(s):  
Control Algorithm ◽  
Controller Design ◽  
Torque Control ◽  
Manipulator Dynamics ◽  
Wide Range ◽  
Non Linear ◽  
Dynamics And Control ◽  
Characteristic Features ◽  
Automatic Balancing ◽  
And Control

Non-linear characteristics and uncertainty in manipulator dynamics caused by payload effects are major hurdles in controller design. To overcome such hurdles the authors have introduced an automatic balancing concept which has been proved to reduce the non-linear complexity in manipulator dynamics as well as to remove gravity loading. This paper examines the characteristic features of balanced manipulator dynamics in more detail and presents an efficient control algorithm suitable for the dynamics. Since the dynamics of a balanced manipulator are characterized by partially configuration-independent inertial properties, the present algorithm adopts two different control concepts ‘the computed torque control’ for the joint having coupled, configuration-dependent inertia and ‘an optimal constant feedback control’ for the joints having configuration-independent inertia. To evaluate the proposed control algorithm, simulation studies were made over a wide range of manipulator speeds and payloads. Based upon the simulation results, the efficiency of the controller is discussed in detail.

scholarly journals Nonlinear Dynamics and Control of a Cube Robot

Mathematics ◽  
2020 ◽  
Vol 8 (10) ◽  
pp. 1840
Author(s):  
Teh-Lu Liao ◽  
Sian-Jhe Chen ◽  
Cheng-Chang Chiu ◽  
Jun-Juh Yan
Keyword(s):  
Pid Controller ◽  
The Self ◽  
Proportional Integral Derivative ◽  
Servo Motor ◽  
External Disturbances ◽  
Braking System ◽  
Dynamics And Control ◽  
And Control ◽  
Balancing Control ◽  
Nonlinear Dynamics And Control

The paper aims to solve problems of the mathematical modeling and realization of a cube robot capable of self-bouncing and self-balancing. First, the dynamic model of the cube robot is derived by using the conservation of the angular momentum and the torque equilibrium theory. Furthermore, the controllability of the cube robot is analyzed and the angle of the cube robot is derived from the attitude and heading reference system (AHRS). Then the parallel proportional–integral–derivative (PID) controller is proposed for the balancing control of the self-designed cube robot. As for the bounce control of the cube robot, a braking system triggered by the servo motor is designed for converting the kinetic energy to the potential energy. Finally, the experimental results are included to demonstrate that the cube robot can complete the actions of self-bouncing and self-balancing with good robustness to external disturbances.

Variational Formulation for Optimal Multi-Cycle Deep Drilling of Small Holes

1997 ◽  
Vol 119 (3) ◽  
pp. 553-560 ◽  
Author(s):  
V. L. Zakovorotny ◽  
E. V. Bordatchev ◽  
T. S. Sankar
Keyword(s):  
Feed Rate ◽  
Machining Process ◽  
Stochastic Variation ◽  
External Disturbances ◽  
Output Quality ◽  
Dynamics And Control ◽  
Optimal Feed ◽  
Optimal Values ◽  
And Control ◽  
Twist Drills

A new variational approach is presented for the MCDDSH process that leads to the optimal values of switching of machining cycles and feed rate. The problem is formulated as a nonclassical variational problem that best models the dynamics and control of a MCDDSH machine. Twist drills are used in the MCDDSH process considered here. All the control parameters like cutting forces, external disturbances, output quality, etc. are considered. Physical realization of the optimal strategy is achieved by taking into account the stochastic variation of system parameters. Control algorithms that yield maximum productivity are developed. Also investigated are the set of machining process states for the MCDDSH process and the specification of optimal switching positions of the machining cycles. These correspond to the appropriate optimal feed-rate that yields the best result.

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