Switch Control Architecture for Advanced Control System Certification

2009 ◽  
Author(s):  
Lael Rudd
Keyword(s):  
Control System ◽  
Control Architecture ◽  
Switch Control ◽  
Advanced Control

scholarly journals Humanoid Robot RH-1 for Collaborative Tasks: A Control Architecture for Human-Robot Cooperation

2008 ◽  
Vol 5 (4) ◽  
pp. 225-234 ◽  
Author(s):  
Concepción A. Monje ◽  
Paolo Pierro ◽  
Carlos Balaguer
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Humanoid Robot ◽  
Kinematic Model ◽  
Control Architecture ◽  
Working Environments ◽  
Advanced Control ◽  
Robot Cooperation ◽  
The University ◽  
Carlos Iii

The full-scale humanoid robot RH-1 has been totally developed in the University Carlos III of Madrid. In this paper we present an advanced control system for this robot so that it can perform tasks in cooperation with humans. The collaborative tasks are carried out in a semi-autonomous way and are intended to be put into operation in real working environments where humans and robots should share the same space. Before presenting the control strategy, the kinematic model and a simplified dynamic model of the robot are presented. All the models and algorithms are verified by several simulations and experimental results.

Multimode Adaptive Control for Tank Gun Control System Based on Tracking Differentiator

2011 ◽  
Vol 383-390 ◽  
pp. 79-85
Author(s):  
Dong Yuan ◽  
Xiao Jun Ma ◽  
Wei Wei
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
High Speed ◽  
Control Method ◽  
Reference Model ◽  
Gun Control ◽  
Math Model ◽  
Tracking Differentiator ◽  
Switch Control ◽  
Model Reference Adaptive

Aiming at the problems such as switch impulsion, insurmountability for influence caused by nonlinearity in one tank gun control system which adopts double PID controller to realize the multimode switch control between high speed and low speed movement, the system math model is built up; And then, Model Reference Adaptive Control (MRAC) method based on nonroutine reference model is brought in and the adaptive gun controller is designed. Consequently, the compensation of nonlinearity and multimode control are implemented. Furthermore, the Tracking Differentiator (TD) is affiliated to the front of controller in order to restrain the impulsion caused by mode switch. Finally, the validity of control method in this paper is verified by simulation.

Non-Linear Control of Tilting-Quadcopter Using Feedback Linearization Based Motion Control

2014 ◽  
Author(s):  
Alireza Nemati ◽  
Manish Kumar
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Motion Control ◽  
Feedback Linearization ◽  
Linear Control ◽  
Control Architecture ◽  
Simulation Studies ◽  
Nonlinear Dynamic Model ◽  
Feedback Linearization Control ◽  
Arbitrary Trajectory

In this paper, a nonlinear control of a tilting rotor quadcopter is presented. The overall control architecture is divided into two sub-controllers. The first controller is based on the feedback linearization control derived from the dynamic model of the tilting quadcopter. This controls the pitch, roll, and yaw motions required for movement along an arbitrary trajectory in space. The second controller is based on two PD controllers which are used to control the tilting of the quadcopter independently along the pitch and the yaw directions respectively. The overall control enables the quadcopter to combine tilting and movement along a desired trajectory simultaneously. Simulation studies are presented based on the developed nonlinear dynamic model of the tilting rotor quadcopter to demonstrate the validity and effectiveness of the overall control system for an arbitrary trajectory tracking.

Advanced Control System Considerations for Small Shaft-Type Aircraft Gas Turbines

1970 ◽  
Author(s):  
D. A. Prue ◽  
T. L. Soule
Keyword(s):  
Control System ◽  
Gas Turbines ◽  
Evaluation Criteria ◽  
Open Loop ◽  
Engine Control ◽  
Gas Generator ◽  
Engine Control System ◽  
Power Turbine ◽  
Advanced Control ◽  
Temperature Load

The next generation of free-turbine engines in the 2 to 5-lb/sec airflow class will undergo vast improvements in performance and efficiency. The improvements will be achieved concurrent with overall reductions in size and weight. Effort is required at optimization and miniaturization of the engine control system to keep pace with these improvements. This paper describes a conceptual design of an advanced engine control system for this class of engine. It provides gas generator and power turbine control with torque, temperature, load sharing and overspeed limiting functions. The control system was concepted to accommodate, with minimum hardware changes, such variants as regenerative cycle and/or variable power turbine geometry. In addition, considerations for closed and open loop modes of control and fluidic, electronic and hydromechanical technologies were studied to best meet a defined specification and a weighted set of evaluation criteria.

scholarly journals Development of an Advanced Solar Tracking Energy System

2021 ◽  
pp. 77-82
Author(s):  
Samuel Davies ◽  
Sivagunalan Sivanathan ◽  
Ewen Constant ◽  
Kary Thanapalan
Keyword(s):  
Control System ◽  
System Performance ◽  
Mechanical Design ◽  
System Development ◽  
Tracking System ◽  
Energy System ◽  
Design And Implementation ◽  
Solar Tracking ◽  
Advanced Control ◽  
Stability Issues

AbstractThis paper describes the design of an advanced solar tracking system development that can be deployed for a range of applications. The work focused on the design and implementation of an advanced solar tracking system that follow the trajectory of the sun’s path to maximise the power capacity generated by the solar panel. The design concept focussed on reliability, cost effectiveness, and scalability. System performance is of course a key issue and is at the heart of influencing the hardware, software and mechanical design. The result ensured a better system performance achieved. Stability issues were also addressed, in relation to optimisation and reliability. The paper details the physical tracker device developed as a prototype, as well as the proposed advanced control system for optimising the tracking.

scholarly journals Gremlins: an Architectural Framework for Reconfigurable Autonomous Robots

2021 ◽  
Author(s):  
James Gaston
Keyword(s):  
Control System ◽  
Communication System ◽  
Communication Systems ◽  
Autonomous Robots ◽  
Fault Tolerant ◽  
Failure Detection ◽  
Base Station ◽  
Communication Strategy ◽  
Stair Climbing ◽  
Control Architecture

The work area of a team of small robots is limited by their inability to traverse a very common obstacle: stairs. We present a complete integrated control architecture and communication strategy for a system of reconfigurable robots that can climb stairs. A modular robot design is presented which allows the robots to dynamically reconfigure to traverse certain obstacles. This thesis investigates the implementation of a system of autonomous robots which can cooperatively reconfigure themselves to collectively travers obstacle such as stairs. We present a complete behaviorand communication system which facilitates this autonomous reconfiguration. The layered behavior-based control system is fault-tolerant and extends the capabilities of a control architecture known as ALLIANCE. Behavior classes are introduced as mechanism for managing ordering dependencies and monitoring a robot's progress through a particular task. The communication system compliments the behavioral control and iimplementsinherent robot failure detection without the need for a base station or external monitor. The behavior and communication systems are validated by implementing them ona mobile robot platform synthesized specifically for this research. Experimental trials showed that the implementation of the behavior control systems was successful. The control system provided robust, fault-tolerant performance even when robots failed to perform docking tasks while recongifuring. Once the robots reconfigure to form a chain, a different control scheme based on gait control tables coordinates the individual movements of the robots. Several successful stair climbing trials were accomplished. Improvements to the mechanical design are proposed.

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