DYNAMIC CONTROL LAW FOR TWO-WHEELED SCOOTER «AUTOCAT»

2021 ◽  
pp. 17-24
Author(s):  
Sergey Petrovich Kruglov ◽  
Stanislav Andreevich Isupov ◽  
Kirill Igorevich D`yakonov ◽  
Roman Gennad'evich Xaziev
Keyword(s):  
Dynamic Control ◽  
Control Law

Stable Nonlinear Control Allocation for Aircraft with Multiple Control Effectors

2011 ◽  
Vol 138-139 ◽  
pp. 404-409 ◽  
Author(s):  
Heng Li ◽  
Jin Yong Yu ◽  
You An Zhang
Keyword(s):  
Closed Loop ◽  
Dynamic Control ◽  
Lyapunov Stability Theory ◽  
Invariant Set ◽  
Control Law ◽  
Control Allocation ◽  
Nonlinear Controller ◽  
Closed Loop System ◽  
Multiple Control ◽  
Simulation Results

With respect to aircraft with redundant multiple control effectors, a nonlinear controller, which is composed of a virtual control law and a dynamic control allocation with position constraints of each effector, is designed. Based on Lyapunov stability theory and LaSalle invariant set theorem, asymptotic stabilities of upper control subsystem, dynamic control allocation subsystem and overall closed-loop system are proved respectively. Simulation results show the effectiveness of the proposed method.

Design of Robust Approach for Failure Detection in Dynamic Control Systems

2011 ◽  
Vol 2 (1) ◽  
pp. 24-43
Author(s):  
Gomaa Zaki El-Far
Keyword(s):  
Control Systems ◽  
Nuclear Power ◽  
Dynamic Control ◽  
Control Process ◽  
Failure Detection ◽  
Global Optimum ◽  
Control Law ◽  
Nuclear Power Reactor ◽  
On Line ◽  
Logic System

This paper presents a robust instrument fault detection (IFD) scheme based on modified immune mechanism based evolutionary algorithm (MIMEA) that determines on line the optimal control actions, detects faults quickly in the control process, and reconfigures the controller structure. To ensure the capability of the proposed MIMEA, repeating cycles of crossover, mutation, and clonally selection are included through the sampling time. This increases the ability of the proposed algorithm to reach the global optimum performance and optimize the controller parameters through a few generations. A fault diagnosis logic system is created based on the proposed algorithm, nonlinear decision functions, and its derivatives with respect to time. Threshold limits are implied to improve the system dynamics and sensitivity of the IFD scheme to the faults. The proposed algorithm is able to reconfigure the control law safely in all the situations. The presented false alarm rates are also clearly indicated. To illustrate the performance of the proposed MIMEA, it is applied successfully to tune and optimize the controller parameters of the nonlinear nuclear power reactor such that a robust behavior is obtained. Simulation results show the effectiveness of the proposed IFD scheme based MIMEA in detecting and isolating the dynamic system faults.

Model-based PID control of a crane spreader by four auxiliary cables

2006 ◽  
Vol 220 (8) ◽  
pp. 1151-1165 ◽  
Author(s):  
D-H Kim ◽  
J-W Lee
Keyword(s):  
Pid Control ◽  
Null Space ◽  
External Disturbance ◽  
Dynamic Control ◽  
Control Law ◽  
Inverse Dynamic ◽  
Tension Distribution ◽  
Model Based ◽  
Inverse Dynamic Control ◽  
Main Cables

This article presents the anti-sway and anti-skew control of a container crane that is widely used in cargo terminals. A four-cable suspended spreader is used to load and unload the container. In such a loading/unloading process, the spreader has usually residual oscillation, the sway and skew, due to the motion of the trolley and the gantry or an external disturbance such as wind. Thus, it is difficult to locate the container at the desired position quickly and precisely. In order to suppress the residual oscillation, this article proposes the use of four auxiliary cables added to four main cables. Using null space, the tension of the redundant auxiliary cables, i.e. the optimal tension distribution among four auxiliary cables, is achieved. The inverse dynamic control and a model-based proportional and integral and derivative (PID) control is applied to derive the control law. The effectiveness of the proposed tension assignment for the auxiliary cables and the model-based PID control algorithm are verified by computer simulations.

scholarly journals Hybrid velocity/force control for robot navigation in compliant unknown environments

Robotica ◽  
2006 ◽  
Vol 24 (6) ◽  
pp. 745-758 ◽  
Author(s):  
Dushyant Palejiya ◽  
Herbert G. Tanner
Keyword(s):  
Lyapunov Functions ◽  
Closed Loop ◽  
Position Control ◽  
Dynamic Control ◽  
Control Law ◽  
Closed Loop System ◽  
Multiple Lyapunov Functions ◽  
Unknown Environments ◽  
Control Scheme ◽  
Novel Method

We combine a “hybrid” force-/position-control scheme with a potential field approach into a novel method for collision recovery and navigation in unknown environments. It can be implemented both on manipulators and mobile robots. The use of force sensors allows us to locally sense the environment and design a dynamic control law. Multiple Lyapunov functions are used to establish asymptotic stability of the closed-loop system. The switching conditions and stability criteria are established under reasonable assumptions on the type of obstacles present in the environment. Extensive simulation results are presented to illustrate the system behavior under the designed control scheme, and verify its stability, collision recovery, and navigation properties.

scholarly journals Adaptive Reinforcement Learning-Enhanced Motion/Force Control Strategy for Multirobot Systems

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Phuong Nam Dao ◽  
Duy Khanh Do ◽  
Dinh Khue Nguyen
Keyword(s):  
Reinforcement Learning ◽  
Force Control ◽  
Tracking Control ◽  
Dynamic Control ◽  
Additional Term ◽  
Control Law ◽  
Force Coefficient ◽  
Constraint Force ◽  
Control Scheme ◽  
Force Tracking

This paper presents an adaptive reinforcement learning- (ARL-) based motion/force tracking control scheme consisting of the optimal motion dynamic control law and force control scheme for multimanipulator systems. Specifically, a new additional term and appropriate state vector are employed in designing the ARL technique for time-varying dynamical systems with online actor/critic algorithm to be established by minimizing the squared Bellman error. Additionally, the force control law is designed after obtaining the computation of constraint force coefficient by the Moore–Penrose pseudo-inverse matrix. The tracking effectiveness of the ARL-based optimal control is verified in the closed-loop system by theoretical analysis. Finally, simulation studies are conducted on a system of three manipulators to validate the physical realization of the proposed optimal tracking control design.

Dynamic Modelling and Control of an Underactuated Quasi-Omnidireccional Hexapod

2020 ◽  
pp. 377-400
Author(s):  
Edgar Alonso Martinez-Garcia ◽  
José A. Aguilera
Keyword(s):  
Numerical Simulations ◽  
Mechanical Design ◽  
Dynamic Control ◽  
Dynamic Modelling ◽  
Control Law ◽  
Proposed Model ◽  
Tripod Gait ◽  
Walking Mechanism ◽  
The Right ◽  
And Control

This chapter presents the mechanical design, dynamic model, and walking control law of an insect-like, asymmetric hexapod robot. The proposed model is an original walking mechanism designed with three actuators to provide quasi-omnidirectionality. One of the motivational aims is to reduce the number of actuators preserving similar holonomy as compared to popular 18-servo redundant hexapods with three servos per leg. This work includes the Klann mechanism as limb, two-drive differential robot's control, one per lateral triplet of legs. The legs of a triplet are synchronized in speed with different rotary angles phase. In addition, the six limbs are synchronized with bidirectional yaw motion. The proposed mechanical design has one servo for limbs yawing, one for the right limbs triplet and one motor for the left triplet. Thus, quasi-omnidirectional mobility is achieved. Furthermore, a dynamic control law that governs the robot's mechanisms motion is deduced, with an Euler-Lagrange approach. Kinematic and dynamic results are validated through numerical simulations using a tripod gait.

Path-Following for a Cutting Tool Subject to Stochastic Disturbance

2012 ◽  
Vol 562-564 ◽  
pp. 2097-2100
Author(s):  
Qiang De Wang ◽  
Chun Ling Wei
Keyword(s):  
Cutting Tool ◽  
Design Method ◽  
Dynamic Control ◽  
Path Following ◽  
Stochastic Nonlinear Systems ◽  
Control Law ◽  
Stochastic Disturbance ◽  
Deterministic Systems ◽  
Closed Loop Systems ◽  
The Given

We extend the path-following problem of deterministic systems to stochastic nonlinear systems in this paper. By using backstepping design method and Ito differential formula, a smooth controller consist of a dynamic control law with a filtered-gradient update law has been designed for a cutting tool subject to stochastic disturbance. The controller can guarantee all the signals of closed-loop systems bounded in probability and the output signal track the given anticipant path with the speed assignment.

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