scholarly journals Study on Roller-Walker – Multi-mode Steering Control and Self-Contained Locomotion –

2000 ◽  
Vol 12 (5) ◽  
pp. 559-566 ◽  
Author(s):  
Gen Endo ◽  
◽  
Shigeo Hirose
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Constant Velocity ◽  
Control Method ◽  
Light Weight ◽  
Steering Control ◽  
Rugged Terrain ◽  
Hybrid Function ◽  
And Control ◽  
Multi Mode

We have proposed a new leg-wheel hybrid mobile robot named ""Roller-Walker"". Roller-Walker is a vehicle with a special foot mechanism, which changes to a sole in walking mode and a passive wheel in skating mode. On rugged terrain the vehicle walks in leg mode, and on level or comparatively smooth terrain the vehicle makes wheeled locomotion by roller-skating using the passive wheels. The characteristics of Roller-Walker are: 1) it has a hybrid function but it is light-weight, 2) it has the potential capability to exhibit high terrain adaptability in skating mode if the control method for roller-wolfing is fully investigated in the future. In this paper, the 4 leg trajectory of straight Roller-Walk is optimized in order to achieve maximum constant velocity. Also steering roller-walk control method is proposed. It is obtained by the expansion of the straight roller-walk trajectory theory adding an offset to the swinging motion. This steering method resembles that of a car. The control system was modified into an untethered system, and control experiments were performed. The realization of the steering motion was verified by them.

DEVELOPMENT OF COMPUTERIZED MONITORING AND CONTROL SYSTEM OF THE MOBILE ROBOT’S POSITIONING ON LARGE FERROMAGNETIC SURFACES BASED ON INTELLIGENT TECHNIQUES. AUTOMATION OF THE MONITORING AND CONTROL PROCESSES OF MOBILE ROBOT FOR PROCESSING OF LARGE INCLINED SURFACES

2019 ◽  
pp. 41-48
Author(s):  
Yan Guojun ◽  
Oleksiy Kozlov ◽  
Oleksandr Gerasin ◽  
Galyna Kondratenko
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Functional Structure ◽  
Monitoring And Control ◽  
Technological Parameters ◽  
Monitoring And Control System ◽  
Inclined Surfaces ◽  
Computerized Monitoring ◽  
And Control ◽  
Tracked Mobile Robot

The article renders the special features of the design of a tracked mobile robot (MR) for moving over inclined ferromagnetic surfaces while performing specified technological operations. There is conducted a synthesis of the functional structure and selective technological parameters (such as control coordinates) of the computerized monitoring and control system (CMCS) intended for use with this MR. Application of the CMCS with the proposed functional structure allows substantially increasing the accuracy of the MR monitoring and control, which in turn provides for a considerable enhancement in the quality and economic efficiency of the operations on processing of large ferromagnetic surfaces.

Independent wheel control system design for highly automated driving

2021 ◽  
pp. 095440702110065
Author(s):  
Shihuan Li ◽  
Lei Wang
Keyword(s):  
Control System ◽  
Control Method ◽  
Autonomous Driving ◽  
Control System Design ◽  
Steering Control ◽  
Automated Driving ◽  
Accuracy And Precision ◽  
Actual Observation ◽  
Control Scheme ◽  
Interference Measurement

For L4 and above autonomous driving levels, the automatic control system has been redundantly designed, and a new steering control method based on brake has been proposed; a new dual-track model has been established through multiple driving tests. The axle part of the model was improved, the accuracy of the transfer function of the model was verified again through acceleration-slide tests; a controller based on interference measurement was designed on the basis of the model, and the relationships between the controller parameters was discussed. Through the linearization of the controller, the robustness of uncertain automobile parameters is discussed; the control scheme is tested and verified through group driving test, and the results prove that the accuracy and precision of the controller meet the requirements, the robustness stability is good. Moreover, the predicted value of the model fits well with the actual observation value, the proposal of this method provides a new idea for avoiding car out of control.

Study and Implement on Key Technologies of Ship-Welding Mobile Robot

2010 ◽  
Vol 44-47 ◽  
pp. 321-325
Author(s):  
Liang Hua ◽  
Lin Lin Lv ◽  
Ju Ping Gu ◽  
Yu Jian Qiang
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Structure Design ◽  
Seam Tracking ◽  
Precision Positioning ◽  
Positioning Control ◽  
Controlling System ◽  
Welding Torch ◽  
Driven System ◽  
And Control

The key technilogies of ship-welding mobile robot applied to ship-building in plane block production line were researched and realized. The mechanical structure design of the robot was completed. The motion-controlling system of of two-wheel differential driving mobile robot was developed. A novel precision positioning control method of welding torch using ultrasonic motors was putforward. The mechanism and control-driven system of precision positioning system for welding torch were completed. The platform of obstacle avoidance navigation system was designed and the strategies of seam tracking, trajectory and posture adjustment were preliminary studied. The methods and results put forward in the paper could act as the base of deep research on the theories and technologies of ship-welding mobile robot.

Development of a Ring Permeability Test System

2010 ◽  
Vol 136 ◽  
pp. 153-157
Author(s):  
Yu Hong Du ◽  
Xiu Ming Jiang ◽  
Xiu Ren Li
Keyword(s):  
Control System ◽  
Control Method ◽  
Dynamic Performance ◽  
Experimental Tests ◽  
Measuring Method ◽  
Test System ◽  
Fluid Theory ◽  
And Control ◽  
Relationship Of ◽  
The Mathematical Model

To solve the problem of detecting the permeability of the textile machinery, a dedicated test system has been developed based on the pressure difference measuring method. The established system has a number of advantages including simple, fast and accurate. The mathematical model of influencing factors for permeability is derived based on fluid theory, and the relationship of these parameters is achieved. Further investigations are directed towards the inherent characteristics of the control system. Based on the established model and measuring features, an information fusion based clustering control system is proposed to implement the measurement. Using this mechanical structure, a PID control system and a cluster control system have been developed. Simulation and experimental tests are carried out to examine the performance of the established system. It is noted that the clustering method has a high dynamic performance and control accuracy. This cluster fusion control method has been successfully utilized in powder metallurgy collar permeability testing.

Integrated guidance and control of interceptors with impact angle constraint against a high-speed maneuvering target

2019 ◽  
Vol 233 (14) ◽  
pp. 5192-5204
Author(s):  
Guanjie Hu ◽  
Jianguo Guo ◽  
Jun Zhou
Keyword(s):  
Control System ◽  
High Speed ◽  
Control Method ◽  
Impact Angle ◽  
Adaptive Sliding Mode Control ◽  
Guidance And Control ◽  
Maneuvering Target ◽  
Integrated Guidance And Control ◽  
And Control ◽  
Impact Angle Constraint

An integrated guidance and control method is investigated for interceptors with impact angle constraint against a high-speed maneuvering target. Firstly, a new control-oriented model with impact angle constraint of the integrated guidance and control system is built in the pitch plane by combining the engagement kinematics and missile dynamics model between the interceptor and target. Secondly, the flight path angle of the target is estimated by extended Kalman filter in order to transform the terminal impact angle constraint into the terminal line-of-sight angle constraint. Thirdly, a nonlinear adaptive sliding mode control law of the integrated guidance and control system is designed in order to directly obtain the rudder deflection command, which eliminates time delay caused by the traditional backstepping control method. Then the Lyapunov stability theory is used to prove the stability of the whole closed-loop integrated guidance and control system. Finally, the simulation results confirm that the integrated guidance and control method proposed in this paper can effectively improve the interception performance of the interceptor to a high-speed maneuvering target.

Steering control system for a mobile robot

1997 ◽  
Author(s):  
Kaylan C. Kolli ◽  
Ernest L. Hall
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Steering Control

Greenhouse Monitoring and Control System Based on Zigbee

2013 ◽  
Vol 347-350 ◽  
pp. 768-771 ◽  
Author(s):  
Jian Jun Zhou ◽  
Xiao Fang Wang ◽  
Xiu Wang ◽  
Wei Zou ◽  
Ji Chen Cai
Keyword(s):  
Control System ◽  
Remote Monitoring ◽  
Control Method ◽  
Control Mode ◽  
Monitoring And Control ◽  
Control Software ◽  
Monitoring And Control System ◽  
Centralized Management ◽  
Remote Monitoring And Control ◽  
And Control

A greenhouse monitoring and control system based on Zigbee networks was developed. This system consists of greenhouse data acquisition controller and greenhouse remote monitoring and control software. The system could monitor temperature and humidity, soil water content and concentration of carbon dioxide in greenhouse and could save these greenhouse data to database. Greenhouse acquisition controller had two kinds of control modes, including local manual control mode and remote wireless control mode in monitoring center. Greenhouse remote monitoring and control software can collect, display and record the collected data, also can control greenhouse environment. According to the current indoor temperature, the target temperature and the offset temperature, PID control method is used for temperature control in greenhouse. The system is implemented using low power wireless components, and easy to be installed. A good wireless solution is provided by this system for centralized management of the greenhouse group.

scholarly journals New Integrated Guidance and Control of Homing Missiles with an Impact Angle against a Ground Target

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Shengjiang Yang ◽  
Jianguo Guo ◽  
Jun Zhou
Keyword(s):  
Control System ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Impact Angle ◽  
Guidance And Control ◽  
Ground Target ◽  
Integrated Guidance And Control ◽  
And Control ◽  
The Impact

A new integrated guidance and control (IGC) law is investigated for a homing missile with an impact angle against a ground target. Firstly, a control-oriented model with impact angle error of the IGC system in the pitch plane is formulated by linear coordinate transformation according to the motion kinematics and missile dynamics model. Secondly, an IGC law is proposed to satisfy the impact angle constraint and to improve the rapidity of the guidance and control system by combining the sliding mode control method and nonlinear extended disturbance observer technique. Thirdly, stability of the closed-loop guidance and control system is proven based on the Lyapunov stability theory, and the relationship between the accuracy of the impact angle and the estimate errors of nonlinear disturbances is derived from stability of the sliding mode. Finally, simulation results confirm that the proposed IGC law can improve the performance of the missile guidance and control system against a ground target.

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