Study on Mobile Robot Applied Mechanics Modeling and Motion Planning

2012 ◽  
Vol 252 ◽  
pp. 23-26
Author(s):  
Xue Peng Liu ◽  
Dong Mei Zhao
Keyword(s):  
Closed Loop ◽  
Open Loop ◽  
Loop System ◽  
System Model ◽  
System Response ◽  
Applied Mechanics ◽  
Closed Loop System ◽  
Wheeled Mobile Robots ◽  
Dominant Pole ◽  
Approximate Treatment

Through the closed loop system response curve of the approximate treatment and the concept of dominant pole, combined with the root track analysis, the most similar to the open loop system model in applied mechanics is obtained. In the process of the closed-loop system model, the friction and gear clearance is considered for manufacturing system. The path planning is proposed for wheeled mobile robots

Analysis and Feedback Control of Planar SOFC Systems for Fast Load Following in APU Applications

2006 ◽  
Author(s):  
Handa Xi ◽  
Jing Sun
Keyword(s):  
Feedback Control ◽  
Closed Loop ◽  
High Efficiency ◽  
Open Loop ◽  
Loop System ◽  
System Response ◽  
Closed Loop System ◽  
Linear Quadratic ◽  
Load Following ◽  
Model Linearization

Solid Oxide Fuel Cell (SOFC) based Auxiliary Power Unit (APU) systems have many practical advantages given their high efficiency, low emissions and flexible fueling strategies. This paper focuses on model-based analysis and feedback control design for planar SOFC systems to achieve fast load following capability. A dynamic model is first developed for the integrated co-flow planar SOFC and CPOX (Catalytic Partial Oxidation) system aiming at APU applications. Simulation results illustrate that an open-loop system with optimal steady-state operating setpoints exhibits a slow transient power response when load increases. Feedback control is then explored to speed up the system response by controlling the flow rates of fuel and air supplies to the system. Model linearization, balanced truncation and Linear Quadratic Gaussian (LQG) approaches are used to derive the low-order observer-based controller. With the feedback controller developed, we show, through simulations, that the closed-loop system can have faster load following capability. Different feedback strategies are also considered and their impacts on closed-loop system performance are analyzed.

scholarly journals Mechanically Actuated Capacitor Microphone Control Using MPC and NARMA-L2 Controllers

2020 ◽  
Author(s):  
Mustefa Jibril ◽  
Messay Tadese ◽  
Eliyas Alemayehu Tadese
Keyword(s):  
Closed Loop ◽  
Promising Result ◽  
Moving Average ◽  
Mechanical Energy ◽  
Electrical Energy ◽  
Open Loop ◽  
Loop System ◽  
System Response ◽  
Closed Loop System ◽  
Voltage Signal

In this paper, a capacitor microphone system is presented to improve the conversion of mechanical energy to electrical energy using a nonlinear auto regressive moving average-L2 (NARMA-L2) and model predictive control (MPC) controllers for the analysis of the open loop and closed loop system. The open loop system response shows that the output voltage signal need to be improved. The comparison of the closed loop system with the proposed controllers have been analyzed and a promising result have been obtained using Matlab/Simulink.

scholarly journals Mechanically Actuated Capacitor Microphone Control using MPC and NARMA-L2 Controllers

2020 ◽  
Author(s):  
Mustefa Jibril ◽  
Messay Tadese ◽  
Eliyas Alemayehu
Keyword(s):  
Closed Loop ◽  
Promising Result ◽  
Moving Average ◽  
Mechanical Energy ◽  
Electrical Energy ◽  
Open Loop ◽  
Loop System ◽  
System Response ◽  
Closed Loop System ◽  
Voltage Signal

In this paper, a capacitor microphone system is presented to improve the conversion of mechanical energy to electrical energy using a nonlinear auto regressive moving average-L2 (NARMA-L2) and model predictive control (MPC) controllers for the analysis of the open loop and closed loop system. The open loop system response shows that the output voltage signal need to be improved. The comparison of the closed loop system with the proposed controllers have been analyzed and a promising result have been obtained using Matlab/Simulink.

Application of Anytime Control to an Inherently Unstable Physical System

2015 ◽  
Author(s):  
Wayne Maxwell ◽  
Al Ferri ◽  
Bonnie Ferri
Keyword(s):  
Closed Loop ◽  
Initial Conditions ◽  
Transient Behavior ◽  
Open Loop ◽  
Loop System ◽  
Closed Loop System ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Lqr Controller ◽  
Two Stages

This paper extends the use of closed-loop anytime control to systems that are inherently unstable in the open-loop. Previous work has shown that anytime control is very effective in compensating for occasional missed deadlines in the computer processor. When misses occur, the control law is truncated or partially executed. However, the previous work assumed that the open-loop system was stable. In this paper, the anytime strategy is applied to an inverted pendulum system. An LQR controller with estimated state feedback is designed and decomposed into two stages. Both stages are implemented most of the time, but in a small percentage of time, only the first stage is applied, with the resulting closed-loop system being unstable for short periods of time. The statistical performance of the closed-loop system is studied using Monte-Carlo simulations. It is seen that, on average, the closed-loop performance is very close to that of the full-order controller as long as the miss rate is relatively small. However, the variance of the response shows much higher dependence on the miss rate, suggesting that the response becomes more unpredictable. At a critical value of miss rate, the closed-loop system is unstable. The critical miss rate found through simulation is seen to correlate well with the results of a deterministic stability analysis. The statistics on the settling time are also studied, and shown to grow longer as the miss rate increases. The transient behavior of the system is studied for a range of initial conditions.

Control System Synthesis Based on Plant Test Data

1995 ◽  
Vol 117 (4) ◽  
pp. 484-489
Author(s):  
Jenq-Tzong H. Chan
Keyword(s):  
Control System ◽  
Test Data ◽  
Closed Loop ◽  
Explicit Knowledge ◽  
Linear Time ◽  
Open Loop ◽  
Loop System ◽  
Closed Loop System ◽  
System Synthesis ◽  
Control System Synthesis

A correlation equation is established between open-loop test data and the desired closed-loop system characteristics permitting control system synthesis to be done on the basis of a numerical approach using experimental data. The method is applicable when the system is linear-time-invariant and open-loop stable. The major merits of the algorithm are two-fold: 1) Arbitrary placement of the closed-loop system equation is possible, and 2) explicit knowledge of an open-loop system model is not needed for the controller synthesis.

Pseudo-random binary sequence closed-loop system identification error with integration control

2009 ◽  
Vol 223 (6) ◽  
pp. 877-884 ◽  
Author(s):  
Z Ren ◽  
G G Zhu
Keyword(s):  
System Identification ◽  
Closed Loop ◽  
Binary Sequence ◽  
Open Loop ◽  
Loop System ◽  
Loop Model ◽  
Closed Loop System ◽  
Identification Error ◽  
Closed Loop Identification ◽  
Integral Controller

This paper studies the closed-loop system identification (ID) error when a dynamic integral controller is used. Pseudo-random binary sequence (PRBS) q-Markov covariance equivalent realization (Cover) is used to identify the closed-loop model, and the open-loop model is obtained based upon the identified closed-loop model. Accurate open-loop models were obtained using PRBS q-Markov Cover system ID directly. For closed-loop system ID, accurate open-loop identified models were obtained with a proportional controller, but when a dynamic controller was used, low-frequency system ID error was found. This study suggests that extra caution is required when a dynamic integral controller is used for closed-loop system identification. The closed-loop identification framework also has significant effects on closed-loop identification error. Both first- and second-order examples are provided in this paper.

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.

scholarly journals Anisochronic Internal Model Control Design

10.14311/482 ◽  
2003 ◽  
Vol 43 (5) ◽  
Author(s):  
T. Vyhlídal ◽  
P. Zítek
Keyword(s):  
System Dynamics ◽  
Internal Model ◽  
Closed Loop ◽  
Control Design ◽  
Internal Model Control ◽  
Loop System ◽  
Closed Loop System ◽  
First Order ◽  
Dominant Pole ◽  
Model Control

The features of internal model control (IMC) design based on the first order anisochronic model are investigated in this paper. The structure of the anisochronic model is chosen in order to fit both the dominant pole and the dominant zero of the system dynamics being approximated. Thanks to its fairly plain structure, the model is suitable for use in IMC design. However, use of the anisochronic model in IMC design may result in so-called neutral dynamics of the closed loop. This phenomenon is studied in this paper via analysing the spectra of the closed loop system.

scholarly journals High Efficient Solar Integrated an Isolated Dc-Dc Full-Bridge Converter for Electric Vehicle Battery Charging Application

2020 ◽  
Vol 9 (4) ◽  
pp. 432-437
Keyword(s):  
Electric Vehicle ◽  
Closed Loop ◽  
Open Loop ◽  
Loop System ◽  
System Stability ◽  
Control Technique ◽  
Closed Loop System ◽  
Conductance Method ◽  
High Efficient ◽  
Electric Vehicle Battery

In this paper, the power from a solar PV panel 20VDC, 12.5ADC is used for charging an electric vehicle battery (12V, 7Ah) with the help of an isolated dc-dc converter in an efficient manner. The power rating maintained in the system is around (200-250) W. The parasitic circuit analysis is carried out theoretically. The zero voltage transition (ZVT) technique is implemented at the inverter stage and an isolation transformer (1:1) is used for source-load isolation purposes. In order to achieve ZVT, a proper design procedure is followed and a pulse triggering technique is carried out at the switching element. The designed values of the parasitic elements are used in the Simulink tool. The open loop and closed loop system of the proposed converter are simulated in MATLAB Simulink package. In the open loop system, an irradiation analysis carried out similarly closed loop has reference voltage variation analysis in order to verify the system stability at the various operating condition. The problem of transients in open loop output is rectified in the closed loop operation. The MPP and PI control technique is initiated in the closed loop system for better performance. The MPP technique used is incremental conductance method for tracking maximum power from the PV array.

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