Base Algorithms of the Direct Adaptive Position-Path Control for Mobile Objects Positioning

2015 ◽  
Vol 763 ◽  
pp. 110-119 ◽  
Author(s):  
Viacheslav Pshikhopov ◽  
Mikhail Medvedev ◽  
Victor Krukhmalev ◽  
Victor Shevchenko
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Reference Model ◽  
Block Diagram ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Mobile Object ◽  
Mobile Objects ◽  
Closed Loop Systems ◽  
Path Control

Problem of a mobile object positioning in the presence of determinate disturbances is considered in this paper. A mobile object is described by kinematics and dynamics equations of a solid body in three dimensional space. The control inputs of the mobile object are forces and torques. Design of adaptive control is based on position-path control method for mobile objects. In this article two algorithms of the adaptive position-path control are developed. The first algorithm is adaptive position-path control with integration component and a reference model. The second algorithm is adaptive position-path control with a reference model and an extended mobile robot model. Block diagram of the direct adaptive position-path control system with a reference model is suggested. Design procedures of the adaptive position-path control systems and stability analysis of the closed-loop systems are presented. Computer simulation results of the designed adaptive closed-loop systems with both constant and variable disturbances are presented. On base of the analysis and modeling results conclusions are provided.

scholarly journals Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shanshan Du ◽  
Heping Chen ◽  
Yong Liu ◽  
Runting Hu
Keyword(s):  
Animal Behavior ◽  
Position Control ◽  
Control Method ◽  
Impedance Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Control Methods ◽  
Prior Work ◽  
Control Approach ◽  
Three Dimensional Space

Currently, a bottleneck problem for battery-powered microflying robots is time of endurance. Inspired by flying animal behavior in nature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase mission life and more importantly execute tasks perching on an object in the stationary way. In prior work, we have developed some prototypes of flying and perching robots. However, when the robots switch between flying and perching, it is a challenging issue to deal with the contact between the robot and environment under the traditional position control without considering the stationary obstacle and external force. Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots to smoothly contact with the environment. The dynamic model of the bioinspired robot is deduced, and the proposed impedance control method is employed to control the contact force and displacement with the environment. Simulations including the top perching and side perching and the preliminary experiments were conducted to validate the proposed method. Both simulation and experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching robot.

An Anti-Sway Controller’s Design of the Overhead Crane

2011 ◽  
Vol 328-330 ◽  
pp. 1868-1871
Author(s):  
Bin Yang ◽  
Lin Ma
Keyword(s):  
Control Method ◽  
Dimensional Space ◽  
Lagrange Equation ◽  
Three Dimensional ◽  
Transient State ◽  
Analytical Mechanics ◽  
Overhead Crane ◽  
Closed Loop System ◽  
Motion System ◽  
Three Dimensional Space

This paper detailedly illustrates how to design an anti-sway controller of overhead crane for eliminating pendulum of hook-headed. First of all the paper uses Lagrange Equation in analytical mechanics to obtain a mathematical model of crane motion system in three dimensional space. Then the paper advances a new control method and designs an anti-disturbance tracking controller based on servo-compensator and stabilization compensator for eliminating pendulum of hook-headed and accurately fixing position. In general, it is difficult to design an appropriate control law because of the crane motion system’s nonlinearity and strong coupling. However, the control method the paper put forward is simple and effective, and ensures the transient state performance of closed-loop system preferable and stable. The paper will introduce the design steps of anti-sway controller of overhead crane and give a satisfying simulation result, which are new and original in this paper.

Keys and Tactics of Existing Barracks Spatial Layout Optimization

2014 ◽  
Vol 1065-1069 ◽  
pp. 1622-1625
Author(s):  
Lei Yan ◽  
Wei Ran Zhou
Keyword(s):  
Control Method ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Spatial Layout ◽  
Layout Optimization ◽  
The Sustainable Development ◽  
Space Construction ◽  
Function Integration ◽  
Land Reuse ◽  
Three Dimensional Space

Spatial layout optimization is a core of existing barracks renewal. Distinguishing from new built barracks, existing barrack spatial layout optimization needs to pay more attention to solve the contradiction between current and future. So in this chapter, we develop six primary design keys applied to existing barracks including harmony relations between barrack and its surrounding environment, emphasis on weakness construction, optimize allocation, improve security defense capabilities, enhance artistry of spatial layout and realize the whole structure optimization. Reference to ancient classical fortification thoughts and current construction conditions, we also explore 5 tactics to optimize existing barracks spatial layout , namely, function integration method, node co-ordinate method, axis control method, three-dimensional space construction method, as well as idle land reuse method. Finally, we choose one tipical case to integrated apply the above keys and tactics from theoretical and practical fields promoting the sustainable development of existing barrack .

Quaternion-Based Control of Acrobatic Quadrotor With Trajectory Following

2020 ◽  
Author(s):  
Haowen Liu ◽  
Bingen Yang
Keyword(s):  
Numerical Simulation ◽  
Mathematical Model ◽  
Control Method ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Path Following ◽  
Differential Flatness ◽  
Reference Trajectory ◽  
Control Approach ◽  
Trajectory Following

Abstract For an unmanned aerial vehicle (UAV), its navigation in terrains can be quite challenging. To reach the destination within the required time, the maneuver of the quadrotor must behave aggressively. During this aggressive maneuvering, the quadrotor can experience singularities in the yaw-direction rotation. Thus, it is essentially important to develop a mathematical model and control method that can avoid singularities while enabling such an aggressive maneuver. In our previous effort, we demonstrated a vertical loop aggressive maneuver performed by a quadrotor UAV, which utilizes the controlled loop path following (CLPF) method. As found in this work, conventional modeling and tracking control method may not be good enough if specific requirements, such as fast coasting speed and sharp turns, are imposed. The numerical simulation by singularity-free modeling and the CLPF method enables a quadrotor to be operated in aggressive maneuverability with features like automatic flipping and precise trajectory following. The current research extends the maneuverability of a quadrotor by using a different and more capable control approach. More complex trajectories are used to test this new control method. In this paper, a quadrotor is used to demonstrate the capability of the proposed control method in delivering an aggressive and singularity-free maneuver. A quaternion-based mathematical model of the quadrotor is derived to avoid the singularities of rotation during the aggressive maneuvers. At the same time, a new control method, namely the full quaternion differential flatness (FQDF) method, is developed for quadrotors to combat the requirement of a fast maneuver in three-dimensional space. The FQDF method, which makes use of full quaternion modeling and differential flatness, enables the quadrotor to react to the reference trajectory timely and to exhibit aggressive rotation without any singularity. Also, the singularities resulting from the heading direction can be resolved by a new algorithm. The FQDF method is compared with the reference literature’s methods and is tested in different trajectories from the ones in the previous studies. The numerical simulation demonstrates the aggressive maneuverability and computational efficiency of the proposed control method.

Control of Linear Motors for Machine Tool Feed Drives: Experimental Investigation of Optimal Feedforward Tracking Control

1998 ◽  
Vol 120 (1) ◽  
pp. 137-142 ◽  
Author(s):  
David M. Alter ◽  
Tsu-Chin Tsao
Keyword(s):  
Closed Loop ◽  
Reference Model ◽  
Feedforward Control ◽  
Tracking Performance ◽  
Motor Drive ◽  
Tracking Errors ◽  
Linear Motors ◽  
Closed Loop Systems ◽  
Feed Drives ◽  
Integral Action

This paper investigates the use of optimal l1 and H∞ model reference optimal feedforward control to enhance the tracking performance of a linear motor drive. Experimental work is presented which studies the effects of signal preview, tracking constraint, and reference model choice on tracking performance. Suboptimal l1 control where the closed-loop system has a zero on the unit circle due to integral action in the feedback controller is given special attention, and is seen to give near optimal performance for the system under study here. For the specific trajectory employed here, the best performing feedforward controllers were experimentally seen to reduce by more than half the maximum and rms tracking errors of the H∞ optimal feedback closed-loop systems.

Tracking control in x-y plane of an offshore container crane

2016 ◽  
Vol 23 (3) ◽  
pp. 469-483 ◽  
Author(s):  
Dongho Kim ◽  
Youngjin Park
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Target Position ◽  
Container Ship ◽  
Scaled Model ◽  
Tracking Controller ◽  
Loading And Unloading ◽  
Linearized Model

A tracking controller is proposed for a crane attached to a mobile harbor (MH) equipped with a dual-stage trolley system, to dynamically position a container from the MH to the container ship or vice versa. Wave-induced motions of the MH and container ship occur during loading and unloading operations owing to external disturbances such as waves. However, a challenging task is to move a payload with unwanted swing motions accurately to the loading and unloading positions on a moving target vessel. To solve this problem, a dynamic MH crane model is derived in three-dimensional space, with roll, pitch, and heave motions caused by sea-wave disturbances. The MH crane model is then linearized to design a tracking controller and the parameters of the linearized model are obtained by carrying out the system identification process. A preview tracking control method that includes feedback and feed-forward control with the predicted target position in the x-y plane in the near future is utilized. Through numerical simulations and experiments with a scaled model, the tracking performance of the proposed dynamic positioning control system is considered when sinusoidal roll and pitch motions of the MH are generated to mimic the wavy sea environment.

Virtual Reality Mobile Platform for Restoring Upper Limbs Functions using Electromiography Data

2021 ◽  
pp. 84-99
Author(s):  
A. Samman ◽  
V.A. Shakhnov
Keyword(s):  
Virtual Reality ◽  
Computer Games ◽  
Block Diagram ◽  
Dimensional Space ◽  
General Scheme ◽  
Three Dimensional ◽  
Preliminary Evidence ◽  
Upper Limbs ◽  
Biological Feedback ◽  
Emg Signal

The article describes a mobile virtual reality platform based on the biological feedback of electromyography for restoring the functions of the upper limbs of people affected by accidents, stroke, Parkinson's disease or who suffered as a result of military operations. The definition of the electromyography (EMG) signal is given. The effectiveness of the biological feedback method in the rehabilitation process is indicated. The problem of initial data preprocessing is considered in order to identify the informative features of the EMG signal in the time domain. The general scheme of a mobile virtual reality platform based on biological feedback is described and preliminary evidence of the platform capability in its current state is presented. The block diagram of the EMG data acquisition module is developed. Developing a training program within the framework of computer games in two-dimensional or three-dimensional space is proposed. The algorithm of the mobile virtual reality platform based on the biological feedback of electromyography is illustrated. The results of the implementation of the proposed biofeedback electromyography system are presented. The advantages of the developed system in comparison with other systems currently available are emphasized; the disadvantages of this method are identified and ways to eliminate them are proposed

Research on trajectory planning of closed loop grouting robot

2021 ◽  
Vol 13 (11) ◽  
pp. 168781402110534
Author(s):  
Runmei Zhang ◽  
Rui Ren ◽  
Guan Luo ◽  
Shuai Li ◽  
Lijun Bi ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Planning ◽  
Closed Loop ◽  
High Efficiency ◽  
Control Method ◽  
Sliding Mode ◽  
Three Dimensional ◽  
Adaptive Sliding Mode Control ◽  
A Algorithm ◽  
Mode Control

In order to promote building intelligence and solve the disadvantages of traditional grouting technology, the trajectory planning of closed-loop grouting robot was designed. The minimumsnap optimization function was used to optimize the A* algorithm to realize the 2D trajectory planning, which could obtain a smooth, continuous route, and planning diagram of time distribution, speed, acceleration, and jerk. Further, the weight function of the improved A* algorithm was adjusted to perform 3D trajectory planning to reduce redundant nodes in the route. A new approaching law adaptive sliding mode control method was used to achieve precise trajectory tracking of the robotic arm and reduce the problem of chattering in sliding mode control. Through the design of closed-loop grouting robot and the research of trajectory planning, the two-dimensional and three-dimensional paths of grouting robot could be optimized. The system could realize automatic grouting operation. It could promote the development of high efficiency and safety in the construction grouting industry.

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