scholarly journals Modeling and Control of a Micro AUV: Objects Follower Approach

Sensors ◽  
2018 ◽  
Vol 18 (8) ◽  
pp. 2574 ◽  
Author(s):  
Jesus Monroy-Anieva ◽  
Cyril Rouviere ◽  
Eduardo Campos-Mercado ◽  
Tomas Salgado-Jimenez ◽  
Luis Garcia-Valdovinos
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Vision System ◽  
Low Cost ◽  
Closed Loop System ◽  
Depth Sensor ◽  
Modeling And Control ◽  
System A ◽  
Formal Stability ◽  
Proportional Derivative Controller ◽  
And Control

This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle (μ-AUV), named AR2D2. The main objective of this work is to make the vehicle to detect and follow an object with defined color by means of the readings of a depth sensor and the information provided by an artificial vision system. A nonlinear PD (Proportional-Derivative) controller is implemented on the vehicle in order to stabilize the heave and surge movements. A formal stability proof of the closed-loop system using Lyapunov’s theory is given. Furthermore, the performance of the μ-AUV is validated through numerical simulations in MatLab and real-time experiments.

Experimental validation of constraint mitigation algorithm in underwater robot depth control

2018 ◽  
Vol 233 (3) ◽  
pp. 264-275
Author(s):  
Juan Luis Rosendo ◽  
Benoit Clement ◽  
Fabricio Garelli
Keyword(s):  
Closed Loop ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Path Following ◽  
Underwater Robot ◽  
Modeling And Control ◽  
Depth Control ◽  
Actuator Constraints ◽  
Proportional Derivative Controller ◽  
And Control

This work explores both modeling and control of the experimental Ciscrea autonomous underwater vehicle. A 6-degree-of-freedom model is presented and validated for turn and emerge/sink maneuvers. Then, a constraint compensating algorithm is proposed based on quasi-sliding mode conditioning ideas and added to a pre-existing inaccessible proportional-derivative controller in order to improve the overall closed-loop response. By considering actuator constraints, the employed technique allows path following at greater speed than the original controller for a given error tolerance. Experimental results on the so-called Ciscrea underwater robot are presented.

Dynamic Modeling and Control of Packing Pressure in Injection Molding

1994 ◽  
Vol 116 (2) ◽  
pp. 244-249 ◽  
Author(s):  
J. Hu ◽  
J. H. Vogel
Keyword(s):  
Injection Molding ◽  
Closed Loop ◽  
Good Control ◽  
Pressure Control ◽  
Physical Parameters ◽  
Closed Loop System ◽  
Modeling And Control ◽  
Packing Pressure ◽  
And Control ◽  
Plastic Injection

A dynamic model of injection molding developed from physical considerations is used to select PID gains for pressure control during the packing phase of thermo-plastic injection molding. The relative importance of various aspects of the model and values for particular physical parameters were identified experimentally. The controller gains were chosen by pole-zero cancellation and root-locus methods, resulting in good control performance. Both open and closed-loop system responses were predicted and verified, with good overall agreement.

Using a Hydraulically Balanced Beam System in Control Education

1997 ◽  
Vol 119 (4) ◽  
pp. 815-819 ◽  
Author(s):  
Pai-Hsueh Yang ◽  
Mark Lemkin ◽  
David M. Auslander
Keyword(s):  
Low Cost ◽  
Control Algorithms ◽  
Balance Beam ◽  
System A ◽  
Advanced Students ◽  
Ideal Tool ◽  
Control Education ◽  
And Control ◽  
Different Levels ◽  
Control Implementation

This paper discusses a low cost solution to teaching controls in the laboratory through the use of a novel balance beam. The balance beam provides a vehicle to study many aspects of both control implementation and control algorithms. Due to the complexity of the system, a full semester of laboratory exercises is provided for even advanced students. The flexibility of the system provides challenging exercises for different levels of education. A low overall cost translates to accessibility to more schools. The ability to achieve good tracking performance with a simple cascaded loop controller makes this an ideal tool for teaching controls in a laboratory setting.

Design One Kind of Simplified Smart Home Monitor and Controller Based on ARM-Linux System and Information Network to the Public

2012 ◽  
Vol 629 ◽  
pp. 845-847
Author(s):  
Zhan Feng Zhao ◽  
Yun Tao Zhang ◽  
Zhi Quan Zhou ◽  
Hai Yan Yu
Keyword(s):  
Smart Home ◽  
Low Cost ◽  
Text Messages ◽  
Fire Alarm ◽  
The Public ◽  
System A ◽  
Measuring Devices ◽  
Series Of Experiments ◽  
Home Monitor ◽  
And Control

A smart home structure using network (internet, intranet, wireless etc.) is designed and developed to monitor the circumstances and control the appliances in the house when sensors are triggered by some unexpected cases. A good host of low-cost sensors is used to make anti theft alarm, fire alarm, smog alarm etc. And then transmitted these data got from the measuring devices to neutral module. The neutral module is constructed by ARM-S3C6410 hardware and embedded Linux. It can transmit messages to the householders after processed. The householders can visit the web server to make it clear what happened in the house. Moreover, they can control some appliances to make incidences back to normal through the Internet. If the owners are holding mobile phones, the neutral module will transmit text messages to them. In turn, they can also control the appliances by sending some specific instructions. And then the neutral module will give some other messages as feedback. Additionally, visible interphone technology also makes function in this system. A LCD is organized in the neutral module, one person who stays in the house can make a good conversation with others through neutral platform. Finally, a series of experiments are posed to estimate the performance of our solution.

Modeling and Control of an Automotive All-Wheel Drive Clutch as a Piecewise Affine System

2013 ◽  
Vol 136 (1) ◽  
Author(s):  
Shiming Duan ◽  
Jun Ni ◽  
A. Galip Ulsoy
Keyword(s):  
Closed Loop ◽  
Open Loop ◽  
Lyapunov Theory ◽  
Loop System ◽  
Linear Matrix ◽  
Closed Loop System ◽  
Modeling And Control ◽  
Piecewise Affine ◽  
Wheel Drive ◽  
And Control

Piecewise affine (PWA) systems belong to a subclass of switched systems and provide good flexibility and traceability for modeling a variety of nonlinear systems. In this paper, application of the PWA system framework to the modeling and control of an automotive all-wheel drive (AWD) clutch system is presented. The open-loop system is first modeled as a PWA system, followed by the design of a piecewise linear (i.e., switched) feedback controller. The stability of the closed-loop system, including model uncertainty and time delays, is examined using linear matrix inequalities based on Lyapunov theory. Finally, the responses of the closed-loop system under step and sine reference signals and temperature disturbance signals are simulated to illustrate the effectiveness of the design.

Dynamic System Simulation Using Distributed Computation Hardware

2016 ◽  
Author(s):  
Keith A. Williams
Keyword(s):  
Dynamic Systems ◽  
Low Cost ◽  
Computation Time ◽  
Practical Implementation ◽  
Modeling And Control ◽  
Digitally Programmable ◽  
Field Programmable ◽  
The Masses ◽  
And Control ◽  
Programmable Hardware

The availability of low-cost, readily programmable digital hardware offers numerous opportunities for novel modeling and control approaches. One such opportunity is the realization of hardware modeling of distributed dynamic systems. Such models could be useful for control algorithms that require high-fidelity models operating in real-time. The ultimate goal is to utilize digital systems with programmable hardware. As a proof-of-concept, multiple discrete microcontrollers have been used to emulate how programmable hardware devices may be used to simulate a distributed vibrating system. Specifically, each microcontroller is treated as a single vibrating mass with stiffness and damping coupling between the masses. Each microcontroller has associated position and velocity variables. The only additional knowledge required to compute the acceleration of each “mass” is thus the position and velocity of each immediate neighboring mass/microcontroller. The computation time is independent of the number of nodes; adding nodes results in no reduction in processing speed. Consequently, the computational approach will be applicable to very high order models. Practical implementation of such models will require digitally programmable hardware such as field-programmable gate arrays (FPGA), however an added benefit will be a still greater reduction in cost, as multiple microcontrollers are replaced by a single FPGA. It is expected that the hardware modeling approach described in this work will have application not only in the field of vibration modeling and control, but also in other fields where control of distributed dynamic systems is desired.

Sign in / Sign up

Export Citation Format

Share Document