Energy-Based Attitude Control of Spherical Pendulum

2011 ◽  
Vol 143-144 ◽  
pp. 355-359
Author(s):  
Wen Jun Lv ◽  
Xin Sheng Ge
Keyword(s):  
Rigid Body ◽  
Attitude Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Center Of Mass ◽  
Control Law ◽  
Spherical Pendulum ◽  
Axis Of Symmetry ◽  
Passive Theory ◽  
Three Degrees Of Freedom

In this paper, we study the attitude control problems based on model of spherical pendulum. Three degrees of freedom pendulum (3D pendulum) is a rigid body supported by a frictionless pivot. According to relative position of the center of mass and the fixed pivot without friction, the 3D rigid pendulum can be divided into two balanced attitudes, Hanging equilibrium and inverted equilibrium. For the axisymmetric 3D rigid pendulum, the axis of symmetry is equivalent to axis of inertia of rigid body, and angular velocity around the axis of symmetry is equal to zero, as a result, the 3D rigid pendulum can be equal to the spherical pendulum. According to the motion attitude of spherical pendulum, one control method based on passive theory is proposed in this paper, Firstly, we use the passive theory to research the equilibrium stability of spherical pendulum. Secondly, passive theory and the Lyapunov function are utilized to deduce the control law .Finally, the spherical pendulum reach asymptotically stable in equilibrium position.

Energy-Based Inverted Equilibrium of the Axially Symmetric 3D Pendulum

2011 ◽  
Vol 138-139 ◽  
pp. 128-133
Author(s):  
Wen Jun Lv ◽  
Xin Sheng Ge
Keyword(s):  
Rigid Body ◽  
Dynamic Characteristics ◽  
Attitude Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Center Of Mass ◽  
Axially Symmetric ◽  
Inverted Position ◽  
Passive Condition ◽  
Axis Of Symmetry

In this paper, we study the attitude control problems based on model of the 3D axially symmetric rigid pendulum. Three degrees of freedom pendulum (3D pendulum) is a rigid body supported by a frictionless pivot. According to relative position of the center of mass and the fixed pivot without friction, the 3D rigid pendulum can be divided into two balanced attitudes, Hanging equilibrium and inverted equilibrium. When the 3D rigid pendulum in axis symmetric case, the axis of symmetry is equivalent to axis of inertia of rigid body, and angular velocity around the axis of symmetry is constant that not equal to zero, as a result, the 3D rigid pendulum equal to the axisymmetric rigid pendulum. According to the motion attitude of the axially symmetric 3D pendulum, this article proposes a control method based on passivity, By analyzing the dynamic characteristics, and demonstrate the dynamic characteristics to meet the passive condition. Firstly, we use the passivity theory, from total energy of the system, to research the equilibrium stability of the axially symmetric 3D pendulum in the inverted position. Secondly, to utilize the passivity theory and the Lyapunov function that we proposed to deduce the control law based on the energy method, so that the axially symmetric 3D pendulum to reach asymptotically stable in equilibrium position, and the simulation results verify the availability of the method.

An Example of a Special Algorithm Application for Control of Aerial Guided Bomb Flight, during Guidance on the Ground Moving Target

2016 ◽  
Vol 817 ◽  
pp. 93-103
Author(s):  
Konrad Stefański
Keyword(s):  
Degrees Of Freedom ◽  
Phase Plane ◽  
Control Method ◽  
Moving Target ◽  
Control Force ◽  
Switching Algorithm ◽  
Control Forces ◽  
Positive Results ◽  
Three Degrees Of Freedom ◽  
Special Algorithm

This paper presents the analysis of the variety of methods regarding aerial guided bomb control during the ground attack on a moving target. Based on this method there was an earlier research regarding motion control of the three degrees of freedom gyroscope axis [1,2] during space exploration and discovered target tracking. Positive results obtained during that research led to conclusion that the proposed control method will be accurate to establish a control force for aerial bomb guiding. This method is based on the use of phase trajectories control deviations. Switching of the control forces in the particular phase plane points causes the deviations to decrease to zero and facilitates the proper trajectory of the bomb. This paper presents a switching algorithm, equations of kinematics and dynamics of a bomb flight-path and the variety of examples of a numerical simulations. Obtained results were presented in the graphic form.

Vehicle Dynamics Model Establishing and Dynamic Characteristic Simulation

2013 ◽  
Vol 404 ◽  
pp. 244-249
Author(s):  
Rui Wang ◽  
Hao Zhang ◽  
Xian Sheng Li ◽  
Xue Lian Zheng ◽  
Yuan Yuan Ren
Keyword(s):  
Degrees Of Freedom ◽  
Center Of Mass ◽  
Rear Wheel ◽  
Front Wheel ◽  
Step Response ◽  
Steering Wheel ◽  
Vehicle Simulation ◽  
Equivalent Mechanical Model ◽  
External Forces ◽  
Three Degrees Of Freedom

By establishing bus simplify coordinate system model and equivalent mechanical model, inertial forces and external forces are analyzed through vehicle lateral movement and vehicle's yaw motion and roll motion. Three degrees of freedom linear motion equation of vehicle is established taking into account lateral motion, yawing movement and rolling motion of vehicle and it can be solved by using method of state space equation. Vehicle dynamic characteristics are analyzed by using this method and programming with Matlab. Vehicle in steering wheel angle step response is analyzed under the conditions of different tire wheel cornering stiffness, moment of inertia, height of center of mass. The results show that increasing rear wheel cornering stiffness, reducing front wheel cornering stiffness and center of mass height, which can effectively improve stability of vehicle. Simulation results provide a theoretical basis and reference for the selection and design of vehicle.

scholarly journals Attitude control for the rigid spacecraft with the improved extended state observer

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Yuteng Cao ◽  
Qi Liu ◽  
Guiqin He ◽  
Qiuling Zhao ◽  
Fang Liu
Keyword(s):  
Sliding Mode Control ◽  
Rigid Body ◽  
Attitude Control ◽  
Control Method ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Solar Array ◽  
Extended State ◽  
Rigid Spacecraft

Abstract In this article, a three-axis attitude manoeuvre spacecraft consisting of a central rigid body and a rotating solar array is studied. The rotating solar array is considered a disturbance to the spacecraft. In the design of the controller, the coupled terms and the rotating solar array are considered a disturbance. The improved extended state observer is proposed by combing the sliding mode observer with the originally extended state observer to estimate the disturbance. The sliding mode control method is adopted to adjust the attitude of the spacecraft. Numerical simulations are presented to demonstrate the outstanding performance of the present observer.

Robust Trajectory Following Control of Robotic Systems

1985 ◽  
Vol 107 (4) ◽  
pp. 308-315 ◽  
Author(s):  
S. N. Singh ◽  
A. A. Schy
Keyword(s):  
Degrees Of Freedom ◽  
Digital Simulation ◽  
Robotic Systems ◽  
Control Law ◽  
Robot Arm ◽  
Control Laws ◽  
Payload Uncertainty ◽  
Trajectory Following ◽  
And Control ◽  
Three Degrees Of Freedom

Using an inversion approach we derive a control law for trajectory following of robotic systems. A servocompensator is used around the inner decoupled loop for robustness to uncertainty in the system. These results are applied to trajectory control of a three-degrees-of-freedom robot arm and control laws Cθ and CH for joint angle and position trajectory following, respectively, are derived. Digital simulation results are presented to show the rapid trajectory following capability of the controller in spite of payload uncertainty.

scholarly journals Extending model-mediation method to multi-degree-of-freedom teleoperation systems experiencing time delays in communication

Robotica ◽  
2015 ◽  
Vol 35 (5) ◽  
pp. 1121-1136 ◽  
Author(s):  
Emre Uzunoğlu ◽  
Mehmet İsmet Can Dede
Keyword(s):  
Time Delays ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Test Results ◽  
Bilateral Teleoperation ◽  
Extended Version ◽  
Teleoperation System ◽  
Teleoperation Systems ◽  
Three Degrees Of Freedom

SUMMARYIn this study, a bilateral teleoperation control algorithm is developed in which the model-mediation method is integrated with an impedance controller. The model-mediation method is also extended to three-degrees-of-freedom teleoperation. The aim of this controller is to compensate for instability issues and excessive forcing applied to the slave environment stemming from time delays in communication. The proposed control method is experimentally tested with two haptic desktop devices. Test results indicate that stability and passivity of the bilateral teleoperation system is preserved under variable time delays in communication. It is also observed that safer interactions of the slave system with its environment can be achieved by utilizing an extended version of the model-mediation method with an impedance controller.

Optimization of Satellite Momentum Wheel Control System Based on Genetic Programming

2013 ◽  
Vol 748 ◽  
pp. 771-778
Author(s):  
Yu Song Huang ◽  
Yun Feng Dong
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Genetic Programming ◽  
Design Process ◽  
Attitude Control ◽  
Control Method ◽  
Complex Structure ◽  
Control Law ◽  
Reaction Wheel ◽  
The Mathematical Model

Due to reliability requirements, the reaction wheel actuator of the satellite attitude control system always use traditional control method. For the satellite which has complex structure, it's difficult to build the mathematical model with classical control method. The selection of control parameters is also difficult. The design process last long and the model have poor adaptability when the parameters change. Compare to genetic algorithms, genetic programming which have the capabilities to evolve automatically, have the advantage of being able to optimize the structure of the mathematical model. Results of optimization and simulation show that design the reaction wheel actuator control law with genetic programming can simplify the design process. And the evolved control law is better than traditional PD control law.

DISCUSSION OF THE CENTER OF MASS MOTION IN A SYSTEM WITH THREE DEGREES OF FREEDOM

2013 ◽  
Vol 22 (06) ◽  
pp. 1350043
Author(s):  
WERNER SCHEID
Keyword(s):  
Degrees Of Freedom ◽  
Center Of Mass ◽  
Hermite Polynomials ◽  
Wave Functions ◽  
Basis Set ◽  
Mass Motion ◽  
Laboratory System ◽  
Oscillator Potential ◽  
Harmonic Oscillator Potential ◽  
Three Degrees Of Freedom

This paper considers the problem of the center of mass motion of three fermionic particles, e. g., equal nucleons (no spin), which can move only in the x-direction in the laboratory system. This system (with three degrees of freedom only) is transformed to a system where one coordinate is proportional to the center of mass coordinate. The center of mass moves in a harmonic oscillator potential. The basis set of wave functions is constructed with Hermite polynomials in part. As example we study the case of a quadratic intrinsic potential between the particles. The problem may be important for the motion of three nucleons in a crystal channel.

Nonlinear Feedback Law for Tracking Control of DC-Actuated Robots

1999 ◽  
Author(s):  
L. Beji ◽  
M. Pascal
Keyword(s):  
Singular Perturbations ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Law ◽  
Nonlinear Feedback ◽  
Serial Robot ◽  
The Stability ◽  
Stability Results ◽  
Three Degrees Of Freedom

Abstract In this paper, a nonlinear feedback law for tracking control of robots is proposed. The dynamic of actuators and only position measurements are taking into account to design the control law. The stability results are obtained from the passivity property of the system, and using singular perturbations techniques. Simulation tests are performed on a three degrees-of-freedom serial robot to illustrate our control law.

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