scholarly journals Bearing-Only Adaptive Formation Control Using Back-Stepping Method

2021 ◽  
Vol 2 ◽  
Author(s):  
Sulong Li ◽  
Qin Wang ◽  
Enci Wang ◽  
Yangyang Chen
Keyword(s):  
Formation Control ◽  
Control Algorithm ◽  
Adaptive Estimation ◽  
Design Method ◽  
Order System ◽  
Control Law ◽  
Barbalat’S Lemma ◽  
Simulation Results ◽  
Unknown Disturbance ◽  
Negative Gradient

In this paper, the bearing-only formation control problem of a class of second-order system with unknown disturbance is investigated, where the control law merely depends on the relative bearings between neighboring agents. In order to offset the effect of unknown disturbance on the system, adaptive estimation is introduced. In the design of the control law, the back-stepping design method and the negative gradient method are used. The Barbalat’s lemma is used to prove the global stability of the system. The simulation results prove the effectiveness of the proposed formation control algorithm.

A Design Method of LS-SVM Based Stable Adaptive Controller for a Class of Nonlinear Systems

2011 ◽  
Vol 48-49 ◽  
pp. 17-20
Author(s):  
Chun Li Xie ◽  
Tao Zhang ◽  
Dan Dan Zhao ◽  
Cheng Shao
Keyword(s):  
Nonlinear Systems ◽  
Design Method ◽  
Nonlinear Function ◽  
Lyapunov Stability Theory ◽  
Adaptive Controller ◽  
Control Law ◽  
Continuous Systems ◽  
Control Schemes ◽  
Closed Systems ◽  
Simulation Results

A design method of LS-SVM based stable adaptive controller is proposed for a class of nonlinear continuous systems with unknown nonlinear function in this paper. Due to the fact that the control law is derived based on the Lyapunov stability theory, the scheme can not only solve the tracking problem of this class of nonlinear systems, but also it can guarantee the asymptotic stability of the closed systems, which is superior to many LS-SVM based control schemes. The effectiveness of the proposed scheme is demonstrated by simulation results.

Iterative Learning Impedance Control in Gait Rehabilitation Robot

2014 ◽  
Vol 494-495 ◽  
pp. 1084-1087
Author(s):  
Fu Cheng Cao ◽  
Hai Xin Sun ◽  
Li Rong Wang
Keyword(s):  
Iterative Learning Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Impedance Control ◽  
Iterative Learning ◽  
Gait Rehabilitation ◽  
Control Law ◽  
Rehabilitation Robot ◽  
Simulation Results ◽  
Impedance Parameters

An iterative learning impedance control algorithm is presented to control a gait rehabilitation robot. According to the circumstances of the patient, the appropriate rehabilitation target impedance parameters are set. With the adoption of iterative learning control law, the impedance error in the closed loop is guaranteed to converge to zero and the iterative trajectories follow the desired trajectories over the entire operation interval. The effectiveness of the proposed method is shown through numerical simulation results.

A Preview Steering Autopilot Control Algorithm for Four-Wheel-Steering Passenger Vehicles

1992 ◽  
Vol 114 (3) ◽  
pp. 401-408 ◽  
Author(s):  
A. Y. Lee
Keyword(s):  
Control Algorithm ◽  
Vision System ◽  
Control Law ◽  
Tracking Problem ◽  
Computer Vision System ◽  
Passenger Vehicles ◽  
Lane Tracking ◽  
Simulation Results ◽  
Almost All ◽  
Future Information

This paper addresses the control law design of a preview steering autopilot for a four-wheel-steering vehicle to perform automatic lane tracking. In the concept, an on-board computer vision system is used in lieu of the driver’s vision to track the roadway. The steering autopilot design is formulated as an optimal, discrete-time preview path tracking problem under the “perfect measurement” assumption. Simulation results indicate that the tracking performance of the steering autopilot was improved by preview relative to that calculated for an autopilot without preview. These results also indicate the existence of an effective preview time with which almost all the benefits of previewing future information can be obtained. This effective preview time is about three times the reciprocal of the autopilot’s bandwidth. Our study also indicates that preview steering autopilots can tolerate the use of actuators with a lower bandwidth than those designed without preview information.

Lyapunov-Based Formation Control of Underwater Robots

Robotica ◽  
2019 ◽  
Vol 38 (6) ◽  
pp. 1105-1122 ◽  
Author(s):  
Ali Keymasi Khalaji ◽  
Rasoul Zahedifar
Keyword(s):  
Feedback Linearization ◽  
Formation Control ◽  
Control Algorithm ◽  
Kinematic Model ◽  
Lyapunov Theory ◽  
Control Law ◽  
Underwater Robots ◽  
Oceanographic Research ◽  
Inspection And Maintenance ◽  
Reliability And Robustness

SUMMARYToday, automatic diving robots are used for research, inspection, and maintenance, extensively. Control of autonomous underwater robots (AUVs) is challenging due to their nonlinear dynamics, uncertain models, and the system underactuation. Data collection using underwater robots is increasing within the oceanographic research community. Also, the ability to navigate and cooperate in a group of robots has many advantages compared with individual navigations. Among them, the effectiveness of using resources, the possibility of robots’ collaboration, increasing reliability, and robustness to defects can be pointed out. In this paper, the formation control of underwater robots has been studied. First, the kinematic model of the AUV is presented. Next, a novel Lyapunov-based tracking control algorithm is investigated for the leader robot. Subsequently, a control law is designed using Lyapunov theory and feedback linearization techniques to navigate a group of follower robots in a desired formation associated with the leader and follow it simultaneously. In the obtained results for different reference paths and various formations, the effectiveness of the proposed algorithm is represented.

Study on Power Flow and H∞ Robust Control in Raft Hybrid Vibration Isolation System

2003 ◽  
Author(s):  
Weimin Mao ◽  
Yueyun Cao ◽  
Shijian Zhu
Keyword(s):  
Robust Control ◽  
Control Algorithm ◽  
Power Flow ◽  
Vibration Isolation ◽  
Control Law ◽  
Isolation System ◽  
Vibration Isolation System ◽  
Passive Isolation ◽  
Simulation Results ◽  
Better Than

The raft hybrid vibration isolation system is studied. The control law of the system is designed with H∞ robust control theory. The power flow in the raft hybrid vibration isolation system is investigated. In order to verify the raft hybrid vibration isolation system numerical simulation is carried out. The simulation results show that the control algorithm is effective and robust, and that the isolation effectiveness of the hybrid vibration isolation system is much better than that of the passive isolation system in the whole frequency domain.

Dynamic Formation Control of Multi-Agent Systems Using Rigid Graphs

2014 ◽  
Author(s):  
Xiaoyu Cai ◽  
Marcio de Queiroz
Keyword(s):  
Graph Theory ◽  
Formation Control ◽  
Control Law ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Simulation Results ◽  
Error Dynamics ◽  
Integrator Model ◽  
Dynamic Formation

In this paper, we consider the problem of formation control of multi-agent systems where the desired formation is dynamic. This is motivated by applications, such as obstacle avoidance, where the formation size and/or geometric shape needs to vary in time. Using a single-integrator model and rigid graph theory, we propose a new control law that exponentially stabilizes the origin of the nonlinear, inter-agent distance error dynamics and ensures tracking of the desired formation. The extension to the formation maneuvering problem is also discussed. Simulation results for a five-agent formation demonstrate the control in action.

scholarly journals Formation Control of Multirobot Based on I/O Feedback Linearization and Potential Function

2014 ◽  
Vol 2014 ◽  
pp. 1-6 ◽  
Author(s):  
Jie Dong ◽  
Sen Liu ◽  
Kaixiang Peng
Keyword(s):  
Potential Function ◽  
Lyapunov Stability ◽  
Feedback Linearization ◽  
Formation Control ◽  
Control Method ◽  
Lyapunov Stability Theory ◽  
Control Law ◽  
Multirobot System ◽  
Simulation Results ◽  
Standard Techniques

Standard techniques of I/O linearization are widely applied to leader-follower approach for multirobot formation control. However general leader-follower approach cannot adapt to the environment with obstacles. Concerning that issue, a formation control method of multirobot system based on potential function is proposed in this paper, and a new control law is designed by choosing a proper potential function and employing Lyapunov stability theory, which stabilizes the formation of the multirobot system. We combine the method with a leader-follower approach to solve the problem that the latter cannot avoid obstacles. Simulation results are given to validate the method.

Speed regulation control of tractors’ new dual-flow transmission system based on slip rate resistance classification

2021 ◽  
pp. 095440702110105
Author(s):  
Guang Xia ◽  
Yan Xia ◽  
Xiwen Tang ◽  
Linfeng Zhao ◽  
Baoqun Sun
Keyword(s):  
Control Strategy ◽  
Control Algorithm ◽  
Production Efficiency ◽  
Sliding Mode ◽  
Slip Rate ◽  
Speed Control ◽  
Working Environment ◽  
Vehicle Speed ◽  
Speed Change ◽  
Simulation Results

Fluctuations in operation resistance during the operating process lead to reduced efficiency in tractor production. To address this problem, the project team independently developed and designed a new type of hydraulic mechanical continuously variable transmission (HMCVT). Based on introducing the mechanical structure and transmission principle of the HMCVT system, the priority of slip rate control and vehicle speed control is determined by classifying the slip rate. In the process of vehicle speed control, the driving mode of HMCVT system suitable for the current resistance state is determined by classifying the operation resistance. The speed change rule under HMT and HST modes is formulated with the goal of the highest production efficiency, and the displacement ratio adjustment surfaces under HMT and HST modes are determined. A sliding mode control algorithm based on feedforward compensation is proposed to address the problem that the oil pressure fluctuation has influences on the adjustment accuracy of hydraulic pump displacement. The simulation results of Simulink show that this algorithm can not only accurately follow the expected signal changes, but has better tracking stability than traditional PID control algorithm. The HMCVT system and speed control strategy models were built, and simulation results show that the speed control strategy can restrict the slip rate of driving wheels within the allowable range when load or road conditions change. When the tractor speed is lower than the lower limit of the high-efficiency speed range, the speed change law formulated in this paper can improve the tractor speed faster than the traditional rule, and effectively ensure the production efficiency. The research results are of great significance for improving tractor’s adaptability to complex and changeable working environment and promoting agricultural production efficiency.

The Research about the Wind Turbines Pitch Control

2013 ◽  
Vol 773 ◽  
pp. 87-90
Author(s):  
Chen Wang ◽  
De Zhou Meng ◽  
Xu Fang Bo
Keyword(s):  
Wind Power ◽  
Pid Control ◽  
Control Algorithm ◽  
Uneven Distribution ◽  
Pitch Control ◽  
Experimental Platform ◽  
Simulation Results ◽  
Pitch System ◽  
Fan Blade ◽  
Variable Pitch Control

Based on the background of wind power, considering the wind blade sweep area on the uneven distribution, this paper is using the PID control algorithm to control the pitch system. At the same time, this paper is using Siemens SCL to programming, simulating on the experimental platform. Simulation results show the validity of the theory and the feasibility of the system, realizing variable pitch control of fan blade.

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