scholarly journals System Modeling and Simulation of an Unmanned Aerial Underwater Vehicle

2019 ◽  
Vol 7 (12) ◽  
pp. 444 ◽  
Author(s):  
Yuqing Chen ◽  
Yaowen Liu ◽  
Yangrui Meng ◽  
Shuanghe Yu ◽  
Yan Zhuang
Keyword(s):  
Autonomous Vehicles ◽  
Water Resistance ◽  
Control Method ◽  
Sliding Mode ◽  
System Modeling ◽  
Environmental Disturbances ◽  
Model Method ◽  
Attitude Error ◽  
The Cross ◽  
Single Set

Unmanned Aerial Underwater Vehicles (UAUVs) with multiple propellers can operate in two distinct mediums, air and underwater, and the system modeling of the autonomous vehicles is a key issue to adapt to these different external environments. In this paper, only a single set of aerial rotors with switching propulsion abilities are designed as driving components, and then a compound multi-model method is investigated to achieve good performance of the cross-medium motion. Furthermore, some additional variables, such as water resistance, buoyancy and their corresponding moments are considered for the underwater case. In particular, a critical coefficient for air-to-water switching is presented to express these gradually changing additional variables in the cross-medium motion process. Finally, the sliding mode control method is used to reduce the altitude error and attitude error of the vehicles with external environmental disturbances. The proposed scheme is tested and the model is verified on the simulation platform.

Sliding-Mode Control With Switching-Gain Adaptation for Trajectory Tracking of Underactuated Unmanned Surface Vessels

2019 ◽  
Author(s):  
Rui Yu ◽  
Haochen Qi ◽  
Kamal Upadhyay ◽  
Hua Zhou
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Sliding Mode ◽  
Wave Loads ◽  
Environmental Disturbances ◽  
Mode Control ◽  
Gain Adaptation ◽  
Surface Vessels ◽  
Adaptation Law

Abstract Robust trajectory tracking is a vitally important issue to underactuated unmanned surface vessels (USVs). In this paper, a sliding-mode control method with switching-gain adaptation is proposed to force an underactuated USV to track a predefined trajectory, despite the presence of parametric uncertainties and unknown environmental disturbances induced by the wave loads, the wind and the ocean currents. The proposed controller is designed using sliding-mode control (SMC) and backstepping and switching-gain adaptation techniques. In this methodology, SMC and backstepping technique are combined to enhance the robustness of the system, and the switching-gain adaptation law based on the ideal switching-gain is employed to alleviate the chattering problem. In addition, we have proved the global asymptotic stability of the closed-loop system under the discontinuous thruster forces or the varying uncertain terms related to the velocities and the environmental disturbances. Finally, numerical simulations are provided to demonstrate the robustness and effectiveness of the proposed method for trajectory tracking of underactuated USVs.

scholarly journals Stable High-Speed Quadrotor Flight using Differential Trajectory

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Ying Wu ◽  
Yun Xie ◽  
Sen Li ◽  
Depei Wang
Keyword(s):  
Tracking Control ◽  
High Speed ◽  
Control Method ◽  
Aerodynamic Drag ◽  
Response Speed ◽  
Nonlinear Controller ◽  
Trajectory Tracking Control ◽  
Environmental Disturbances ◽  
Attitude Error ◽  
Simulation Results

This paper addresses the trajectory tracking control issue of a quadrotor with environmental disturbances, which particularly focuses on attitude correction during flight and response speed improvement. In this paper, the proposed control method uses the differential equation to transform the desired trajectory for improving the robustness of a quadrotor during high-speed flight. Meanwhile, a nonlinear controller based on the rotation matrix is designed to avoid singularities of Euler angles. The controller can also stabilize the position error to zero without reducing the control thrust when the attitude error is large. Finally, we conduct simulations on a tethered quadrotor to achieve high-speed flight in limited space. The simulation results show that the control method can stabilize a quadrotor at high-speed trajectory flight and keep a quadrotor stable when it is disturbed by aerodynamic drag and mass change.

A New Discrete-time Sliding Mode Control Method Based on Restricted Variable Trending Law

2014 ◽  
Vol 39 (9) ◽  
pp. 1552-1557 ◽  
Author(s):  
Xi LIU ◽  
Xiu-Xia SUN ◽  
Wen-Han DONG ◽  
Peng-Song YANG
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Control Method ◽  
Sliding Mode ◽  
Mode Control

Fractional Dynamic Sliding Mode Control for uncertain chaotic systems Applied to a Chaotic Robot arm under dynamic load.

2020 ◽  
Vol 10 ◽  
Author(s):  
Sara Gholipour P ◽  
Sara Minagar ◽  
Javad Kazemitabar ◽  
Mobin Alizadeh
Keyword(s):  
Sliding Mode Control ◽  
Chaotic Systems ◽  
Control Method ◽  
Sliding Mode ◽  
Qualitative And Quantitative ◽  
Mode Control ◽  
Quantitative Characteristics ◽  
Dynamic Sliding Mode Control ◽  
Dynamic Sliding Mode ◽  
Qualitative And Quantitative Characteristics

Background: A novel type of control strategy is presented for control of chaotic systems particularly a chaotic robot in joint and workspace which is the result of applying fractional calculus to dynamic sliding mode control. Objectives: To guarantee the sliding mode condition, control law is introduced based on the Lyapunov stability theory. Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence of system matched disturbances. Conclusion: Also, all of chaotic robot's qualitative and quantitative characteristics have been investigated. Numerical simulations indicate viability of our control method. Results: Qualitative and quantitative characteristics of the chaotic robot are all proven to be viable thru simulations.

Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

2014 ◽  
Vol 672-674 ◽  
pp. 1770-1773 ◽  
Author(s):  
Fu Cheng Cao ◽  
Li Min Du
Keyword(s):  
Dynamic Response ◽  
Sliding Mode Control ◽  
Lower Limb ◽  
Control Method ◽  
Sliding Mode ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

The human-like trajectory planning for autonomous vehicles based on optimal control in a test track environment

2021 ◽  
pp. 095440702110090
Author(s):  
Xing Xu ◽  
Minglei Li ◽  
Feng Wang ◽  
Ju Xie ◽  
Xiaohan Wu ◽  
...  
Keyword(s):  
Optimal Control ◽  
Autonomous Vehicles ◽  
Optimal Trajectory ◽  
Control Method ◽  
Autonomous Vehicle ◽  
Trajectory Data ◽  
Test Track ◽  
Optimal Control Method ◽  
The Future ◽  
On The Road

A human-like trajectory could give a safe and comfortable feeling for the occupants in an autonomous vehicle especially in corners. The research of this paper focuses on planning a human-like trajectory along a section road on a test track using optimal control method that could reflect natural driving behaviour considering the sense of natural and comfortable for the passengers, which could improve the acceptability of driverless vehicles in the future. A mass point vehicle dynamic model is modelled in the curvilinear coordinate system, then an optimal trajectory is generated by using an optimal control method. The optimal control problem is formulated and then solved by using the Matlab tool GPOPS-II. Trials are carried out on a test track, and the tested data are collected and processed, then the trajectory data in different corners are obtained. Different TLCs calculations are derived and applied to different track sections. After that, the human driver’s trajectories and the optimal line are compared to see the correlation using TLC methods. The results show that the optimal trajectory shows a similar trend with human’s trajectories to some extent when driving through a corner although it is not so perfectly aligned with the tested trajectories, which could conform with people’s driving intuition and improve the occupants’ comfort when driving in a corner. This could improve the acceptability of AVs in the automotive market in the future. The driver tends to move to the outside of the lane gradually after passing the apex when driving in corners on the road with hard-lines on both sides.

scholarly journals The Boundary Proportion Differential Control Method of Micro-Deformable Manipulator with Compensator Based on Partial Differential Equation Dynamic Model

Micromachines ◽  
2021 ◽  
Vol 12 (7) ◽  
pp. 799
Author(s):  
Xiangli Pei ◽  
Ying Tian ◽  
Minglu Zhang ◽  
Ruizhuo Shi
Keyword(s):  
Differential Equation ◽  
Partial Differential Equation ◽  
Dynamic Model ◽  
Control Method ◽  
System Modeling ◽  
Working Environment ◽  
Partial Differential ◽  
External Interference ◽  
Differential Control ◽  
Differential Control Method

It is challenging to accurately judge the actual end position of the manipulator—regarded as a rigid body—due to the influence of micro-deformation. Its precise and efficient control is a crucial problem. To solve the problem, the Hamilton principle was used to establish the partial differential equation (PDE) dynamic model of the manipulator system based on the infinite dimension of the working environment interference and the manipulator space. Hence, it resolves the common overflow instability problem in the micro-deformable manipulator system modeling. Furthermore, an infinite-dimensional radial basis function neural network compensator suitable for the dynamic model was proposed to compensate for boundary and uncertain external interference. Based on this compensation method, a distributed boundary proportional differential control method was designed to improve control accuracy and speed. The effectiveness of the proposed model and method was verified by theoretical analysis, numerical simulation, and experimental verification. The results show that the proposed method can effectively improve the response speed while ensuring accuracy.

scholarly journals Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 154
Author(s):  
Bin Wang ◽  
Pengda Ren ◽  
Xinhao Huang
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Pump ◽  
Mode Control ◽  
Control Precision ◽  
Backstepping Sliding Mode Control ◽  
Actuator System ◽  
The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

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