Control Strategy Research on Controllable Pendulum in Step Perturbation

2014 ◽  
Vol 602-605 ◽  
pp. 1387-1390
Author(s):  
Geng Biao Shen ◽  
Fan Li ◽  
Zi Chao Zhang ◽  
Jian Hui Zhao
Keyword(s):  
Autonomous Navigation ◽  
State Feedback ◽  
Decoupling Control ◽  
Control Law ◽  
Strategy Research ◽  
Existing Problems ◽  
Indirect Control ◽  
Control Scheme ◽  
Preliminary Study ◽  
And Control

Applying controllable pendulum to indicating vertical is a new method which can be used for autonomous navigation. There are some studies on the method and it puts forward the existing problems. In this paper, it carries on the preliminary study on drawbacks that it exists steady-state error in controllable pendulum, and designs a new control scheme combined direct control with indirect control while there is step perturbation. Then it designs the corresponding control law by using observer with state feedback and decoupling control. It makes software simulation by Matlab and the results show that the controllable pendulum can be controlled well to indicate vertical by using the designed control scheme and control law when it exists step perturbation.

scholarly journals An Advanced Guidance and Control System for an Unmanned Vessel with Azimuthal Thrusters

2018 ◽  
Author(s):  
M Bibuli ◽  
Ga Bruzzone ◽  
Gi Bruzzone ◽  
M Caccia ◽  
G Camporeale ◽  
...  
Keyword(s):  
Autonomous Navigation ◽  
Control Strategies ◽  
Vertical Axis ◽  
Control Loop ◽  
Guidance And Control ◽  
Marine Vehicles ◽  
Regulation Scheme ◽  
Control Scheme ◽  
Constrained Environments ◽  
And Control

The proposed paper presents the design and development of the combined guidance and control strategies for the autonomous navigation of an unmanned vessel characterized by azimuth-based thrust architecture. Autonomous Marine Vehicles (AMVs) are consolidates technological tools commonly employed for different tasks such as exploration, sampling and intervention. With the final aim of autonomous shipping, the capabilities of AMVs have to be migrated and adapted towards the reliable and safe control of commercial-like unmanned vessel, that are taking place thanks to a number of technological research projects. The employment of new concept hulls and thrust configurations, as for instance Small Waterplane Area Twin Hull (SWATH) combined with Azimuthal propulsion (common propeller-based thruster with the capability of 360◦ rotation around the vertical axis), requires robust guidance techniques to provide precise and reliable motion control during navigation. The paper proposes a dual-loop guidance and control scheme able to provide advanced navigation capabilities. In particular, the inner control loop, devoted to the actuation of the azimuthal thrusters, allows the tracking of reference course angle (namely the autopilot). Such a control loop is characterized by a modified PID regulation scheme, where a novel adaptive derivative component is inserted in order to improve the convergence curve towards the required course reference. The outer guidance loop, based on Lyapunov/virtual-target approach, allows the vessel to track generic desired paths, thus enhancing the autonomous navigation capabilities also in constrained environments. The paper will provide a deep design and analysis approach for the developed techniques, as well as simulation results of the combined guidance and control scheme, proving the reliability of the proposed approach in different operative conditions. Experimental results will be provided, depending on the availability of the actual autonomous vessel (currently under final development/test phases and related to the specific project activities). 

On Aero Control Law Joined Compensatory PID for Glide down to Fixed Low Altitude System and Simulation Researches

2012 ◽  
Vol 198-199 ◽  
pp. 1021-1024
Author(s):  
De Hai Yu ◽  
Dong Cai Qu ◽  
Jian Hua Lu ◽  
Bin Wen Lu
Keyword(s):  
Control Law ◽  
Simple Analysis ◽  
Control Laws ◽  
Control Scheme ◽  
Improve Accuracy ◽  
Working Principle ◽  
Simulation Results ◽  
Low Altitude ◽  
Constant Altitude ◽  
And Control

In order to improve accuracy of constant altitude fly at low altitude and fly track of glide down to fixed altitude, aeroplane’s control scheme of glide down to fixed low altitude with PID compensatory link were designed. At the same time, the corresponding control laws had been designed. After simple analysis about working principle of the aeroplane’s control system, simulation researches were done to optimize designed control laws, so that achieving expectant requirement. Simulation results show that designed control scheme and control law were accurate and effective.

Vibration Control of the Elastodynamic Response of High-Speed Flexible Linkage Mechanisms

1991 ◽  
Vol 113 (1) ◽  
pp. 14-21 ◽  
Author(s):  
C. K. Sung ◽  
Y. C. Chen
Keyword(s):  
Optimal Control ◽  
High Speed ◽  
State Feedback ◽  
Control Law ◽  
Luenberger Observer ◽  
Control Scheme ◽  
Feedback Optimal Control ◽  
Optimal Control Scheme ◽  
Observation Spillover ◽  
Flexible Linkage

A methodology for suppressing the elastodynamic responses of high-speed flexible linkage mechanisms by employing a state feedback optimal control scheme is proposed. This permits the mechanisms to be subjected to controlled dynamic inputs generated by several pairs of suitably-selected piezoelectric ceramics while additional piezoceramics are utilized as sensing devices. This optimal control scheme includes a feedback control law and a Luenberger observer. The instabilities caused by the combined effect of control and observation spillover are investigated and carefully prevented. Finally, numerical simulation is performed to evaluate the improvement of the elastodynamic responses.

Minimum-Time Eigenaxis Rotation Maneuvers for a Spacecraft With Three Axis Reaction Wheels

2015 ◽  
Vol 137 (11) ◽  
Author(s):  
Haoyu Wang ◽  
Guowei Zhao ◽  
Hai Huang
Keyword(s):  
Numerical Simulation ◽  
Momentum Conservation ◽  
Open Loop ◽  
Minimum Time ◽  
Control Law ◽  
Open Loop Control ◽  
Model Uncertainties ◽  
Loop Control ◽  
Control Scheme ◽  
And Control

This paper proposes a planning method of the theoretically fastest slew path, and correspondingly, an analytical open-loop control law for the minimum-time eigenaxis rotation of spacecraft with three reaction wheels. The path planning and the control law are based on the angular momentum conservation of the spacecraft system. Then, a control scheme is also proposed to correct the maneuver error caused by model uncertainties. The control law and control scheme are verified in numerical simulation cases. The results show that the control law would realize the fastest slew path for an eigenaxis rotation, and the control scheme is feasible in shortening the slew time.

An Uncertainty-Attenuating Controller for Mechanical Manipulators with Electromechanical Dynamics: Part 2

1994 ◽  
Vol 208 (4) ◽  
pp. 215-219
Author(s):  
C L Teo ◽  
H A Zhu ◽  
G S Hong
Keyword(s):  
Dynamic Model ◽  
Feedback Linearization ◽  
Robotic Manipulators ◽  
Decoupling Control ◽  
Disturbance Decoupling ◽  
Control Scheme ◽  
Mechanical Manipulators ◽  
Mechanical Dynamics ◽  
Electromechanical Dynamics ◽  
And Control

Decoupling control of robotic manipulators, based on a dynamic model that includes both the mechanical dynamics of the links and the electrical dynamics of the joint motors, is studied in this paper. By using an algorithm of feedback linearization developed in this paper, the highly non-linear and strongly cross-coupled electromechanical system is decoupled and linearizd into a set of decoupled linear subsystems. Then, disturbance decoupling is further conducted for disturbance and uncertainty attenuation. It is shown that, by using the proposed control scheme, both modelling difficulty and control complexity of the manipulator system can be significantly reduced.

Model and Auto Take-Off Control Law Design of Unmanned Aerial Vehicle

2011 ◽  
Vol 383-390 ◽  
pp. 1524-1530
Author(s):  
Hui Song ◽  
Xin Chen
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Rotation Speed ◽  
Aerodynamic Characteristics ◽  
Control Law ◽  
Engineering Project ◽  
Dynamical Characteristics ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Lift Off ◽  
And Control

The Unmanned Aerial Vehicle (UAV) has special dynamical characteristics in ground motion different from that of flight in the airborne. The forces and moments on the ground to the UAV differ during taxiing, according to the different mechanical and aerodynamic characteristics. An all-states nonlinear model is established by studying on a sample UAV. Rotation speed and lift off speed is determined, finally a control law including longitudinal and lateral control for automatic take-off is designed. Results of simulation show that the model and control scheme can not only join the ground taxiing and flight in the airborne smoothly, but also has a high value in realizing engineering project.

Switching control for coordinated maneuvering of vehicular platoon with sensor failures

2019 ◽  
Vol 42 (8) ◽  
pp. 1429-1436
Author(s):  
Cunming Zou ◽  
Hongxing Li
Keyword(s):  
State Feedback ◽  
Controller Design ◽  
Design Method ◽  
State Feedback Control ◽  
Control Law ◽  
Sensor Failure ◽  
Control Scheme ◽  
Asymptotical Stable ◽  
Switching Controller ◽  
Linearized Model

The problem of nonlinear platoon control with sensor failure is studied in this paper. First, a vehicular platoon model involving sensor failure and nonlinearity is established, in which the nonlinear platoon is divided to a linearized model in addition to a nonlinear term. Then, based on the nonlinear model, a switching controller design method is proposed by using a discrete Lyapunov function and then the sufficient state feedback control law is achieved. It is shown that the obtained control scheme can achieve asymptotical stable. Simulations are given to show the efficiency of the proposed methods.

Spacecraft vibration suppression based on micro-gimbal moment of magnetically suspended flywheel with dynamic feedback and feedforward decoupling control

2017 ◽  
Vol 232 (21) ◽  
pp. 3881-3896 ◽  
Author(s):  
Xiaocen Chen ◽  
Yuanwen Cai ◽  
Yuan Ren ◽  
Qiang Liu
Keyword(s):  
High Frequency ◽  
State Feedback ◽  
Vibration Suppression ◽  
Decoupling Control ◽  
Unmodeled Dynamics ◽  
Control Law ◽  
Dynamic Feedback ◽  
Steering Law ◽  
Moment Control ◽  
Novel Method

Aimed at solving the prominent issue of spacecraft high-frequency vibration suppression, this paper creatively puts forward a novel method based on the micro-gimbal moment of magnetically suspended flywheel with dynamic feedback and feedforward decoupling control. The dynamic model of the on-orbit magnetically suspended flywheel is established first and the decoupling control law of spacecraft as well as the micro-gimbal steering law of the magnetically suspended flywheel is designed. The disturbance compensator based on dynamic feedback–feedforward current is put forward to cancel the disturbance of spacecraft to the magnetically suspended flywheel. Then the nonlinear on-orbit magnetically suspended flywheel system is converted into a linear system without spacecraft coupling, and the state feedback decoupling controller is used to realize the high-precision micro-gimbal moment control of the magnetically suspended flywheel. The dynamic compensation filter is further developed to reduce the influence of unmodeled dynamics on decoupling performances, improving the rate of convergence of vibration suppression. The above three components constitute together the dynamic feedback and feedforward decoupling controller. The simulation results show the effectiveness and superiority of this method.

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