scholarly journals A 6DOF Virtual Environment Space Docking Operation with Human Supervision

2021 ◽  
Vol 11 (8) ◽  
pp. 3658
Author(s):  
Cosmin Copot ◽  
Cristina I. Muresan ◽  
Manuel Beschi ◽  
Clara M. Ionescu
Keyword(s):  
Virtual Environment ◽  
Fractional Order ◽  
Supervisory Control ◽  
Space Station ◽  
Fractional Order Control ◽  
Large Variability ◽  
Human In The Loop ◽  
Docking Mechanism ◽  
3D Computer Model ◽  
Six Degree Of Freedom

In this work, we present a synchronous co-simulation of a 6DOF (six degree of freedom) ball and plate platform and its 3D computer model. The co-simulation in the virtual environment is intended to mimic the rendezvous between a cargo vehicle such as the Falcon 9 from SpaceX and the ISS (International Space Station). The visual feedback sensing of the position of the 6DOF platform is implemented using a Kinect RGB-D device. The human in the loop acts as supervisory control for initiating the docking mechanism. This paper delivers an adaptive fractional order control solution which is easily tunable, implementable and validated on a laboratory benchmark. The results indicate that fractional order control can tackle large variability in the system dynamics and deliver specified performance at all times.

Robust Control of a Laboratory Hydraulic Canal by Using a Fractional PI Controller

2007 ◽  
Author(s):  
Luis Sa´nchez Rodri´guez ◽  
Vicente Feliu Batlle ◽  
Rau´l Rivas Pe´rez ◽  
Miguel A´ngel Rui´z Torija
Keyword(s):  
Fractional Order ◽  
Control Strategy ◽  
Supervisory Control ◽  
Pi Controller ◽  
Time Varying ◽  
Fractional Order Control ◽  
Supervision System ◽  
Dynamical Parameters ◽  
Fractional Order Pi Controller ◽  
Fractional Controller

A fractional order control strategy has been implemented in an automated laboratory hydraulic canal characterized to present time-varying dynamical parameters. A method for tuning a fractional order PI controller that makes the hydraulic canal control system robust to process parameters variations has been proposed too. Experiments have been carried out in our laboratory hydraulic canal, and the fractional controller has been implemented in an industrial SCADA (Supervisory Control And Data Acquisition) control and supervision system. The comparison between the response of our fractional PI controller and the standard PI controller proved the effectiveness of the proposed fractional order control strategy in terms of performance and robustness.

Special Issue on “Advances in Fractional Order Control and Estimation”

2013 ◽  
Vol 15 (3) ◽  
pp. 637-639 ◽  
Author(s):  
Alessandro Pisano ◽  
Riccardo Caponetto
Keyword(s):  
Fractional Order ◽  
Special Issue ◽  
Fractional Order Control
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