Position Tracking and Attitude Stable Control for an Unmanned Quadrotor Vehicle

2013 ◽  
Vol 645 ◽  
pp. 492-496
Author(s):  
Hui Bai ◽  
Hong Yu Wang ◽  
Shi Huang Shao
Keyword(s):  
Dynamic Model ◽  
Control Strategy ◽  
Dynamic Inversion ◽  
Position Tracking ◽  
Attitude Stabilization ◽  
Control Scheme ◽  
Channel Control ◽  
Stable Control

A simplified dynamic model of the quadrotor is established. A multi-channel control scheme based on PID and dynamic inversion is proposed. Four channels are designed to achieve the position tracking and attitude stabilization of the quadrotor. A simulation shows the validity and good features of the control strategy.

scholarly journals Adaptive Fuzzy Control for Attitude Stabilization of Spacecraft with Deployable Composite Laminated Solar Array

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-26
Author(s):  
Wei Zhang ◽  
Weibing Zhu ◽  
Shijie Zhang ◽  
Xiangtian Zhao
Keyword(s):  
Dynamic Model ◽  
Differential Algebraic Equations ◽  
Solar Array ◽  
Main Body ◽  
Pd Controller ◽  
Attitude Stabilization ◽  
Adaptive Fuzzy ◽  
Control Scheme ◽  
Deployment Dynamics ◽  
Fuzzy Pd

Modern spacecraft are often equipped with large-scale, complex, and lightweight solar arrays whose deployment involves a highly dynamic movement. This paper proposed a novel adaptive proportional-derivative typed fuzzy logic control scheme for the attitude stabilization of a flexible spacecraft during the deployment of a composite laminated solar array. First, a constrained rigid-flexible coupling spacecraft model consisting of a rigid main body and a flexible solar array was proposed. The solar array, which is composed of composite laminated shells, was described by the absolute nodal coordinate formulation. Then, the detailed derivation of the adaptive fuzzy PD controller for attitude stabilization of the spacecraft was discussed. In addition, the spacecraft dynamic model which integrated the adaptive fuzzy PD controller was derived as a set of differential-algebraic equations. Several simulations were developed to investigate the solar array deployment dynamics and to verify the effectiveness of the proposed adaptive fuzzy PD controller. The results suggested that the proposed dynamic model is able to exactly describe the deployment dynamics of the composite laminated solar array. The solar array deployment causes obvious translational and rotational motions of the spacecraft. The proposed adaptive fuzzy PD control scheme has better performance in terms of the control precision and time response in stabilizing spacecraft during the deployment of the composite laminated solar array, comparing with that of the conventional PD controller.

scholarly journals Robust Quadrotor Control through Reinforcement Learning with Disturbance Compensation

2021 ◽  
Vol 11 (7) ◽  
pp. 3257
Author(s):  
Chen-Huan Pi ◽  
Wei-Yuan Ye ◽  
Stone Cheng
Keyword(s):  
Neural Network ◽  
Reinforcement Learning ◽  
Control Strategy ◽  
External Disturbance ◽  
Control Agent ◽  
Network Control ◽  
Outdoor Environment ◽  
Disturbance Compensation ◽  
Tracking Accuracy ◽  
Control Scheme

In this paper, a novel control strategy is presented for reinforcement learning with disturbance compensation to solve the problem of quadrotor positioning under external disturbance. The proposed control scheme applies a trained neural-network-based reinforcement learning agent to control the quadrotor, and its output is directly mapped to four actuators in an end-to-end manner. The proposed control scheme constructs a disturbance observer to estimate the external forces exerted on the three axes of the quadrotor, such as wind gusts in an outdoor environment. By introducing an interference compensator into the neural network control agent, the tracking accuracy and robustness were significantly increased in indoor and outdoor experiments. The experimental results indicate that the proposed control strategy is highly robust to external disturbances. In the experiments, compensation improved control accuracy and reduced positioning error by 75%. To the best of our knowledge, this study is the first to achieve quadrotor positioning control through low-level reinforcement learning by using a global positioning system in an outdoor environment.

Stability analysis of adaptive control using fuzzy adapting rate neural emulator: Experimental validation on a thermal process

2021 ◽  
pp. 095965182098818
Author(s):  
Fatma Ezzahra Rhili ◽  
Asma Atig ◽  
Ridha Ben Abdennour ◽  
Fabrice Druaux ◽  
Dimitri Lefebvre
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Thermal Process ◽  
Experimental Validation ◽  
Experimental Simulation ◽  
Neural Controller ◽  
Control Scheme ◽  
Stability Method ◽  
Indirect Adaptive Control ◽  
Adaptive Control Scheme

In this study, an adaptive control based on fuzzy adapting rate for neural emulator of nonlinear systems having unknown dynamics is proposed. The indirect adaptive control scheme is composed by the neural emulator and the neural controller which are connected by an autonomous algorithm inspired from the real-time recurrent learning. In order to ensure stability and faster convergence, a neural controller adapting rate is established in the sense of the continuous Lyapunov stability method. Numerical simulations are included to illustrate the effectiveness of the proposed method. The performance of the proposed control strategy is also demonstrated through an experimental simulation.

Automated Deburring with a Filamentary Brush: Prescribed Burr Geometry

1999 ◽  
Vol 121 (3) ◽  
pp. 385-392 ◽  
Author(s):  
Robert J. Stango ◽  
Lienjing Chen ◽  
Vikram Cariapa
Keyword(s):  
Penetration Depth ◽  
Dynamic Model ◽  
Control Strategy ◽  
Feed Rate ◽  
Material Removal ◽  
Vision System ◽  
Closed Form Solution ◽  
Straight Edge ◽  
Finite Width ◽  
Production Environment

In this paper, a dynamic model for removal of edge burrs with a compliant brushing tool is reported. Description of the burr geometry is assumed to be known through on-line measurement methods such as a computer vision system in the flexible manufacturing cell. Dynamic response of the brush/workpiece system is evaluated on the basis of experimentally obtained data. Master Curves are introduced as machining descriptors which characterize the incremental burr removal performance of the brush/workpiece system, leading to the development of an analytical dynamic model for orthogonal burr removal using a finite-width brushing tool. Based upon the dynamic model for material removal, a control strategy for automatic deburring is presented for burr configurations having constant height as well as variable height. A closed-form solution for transverse brush feed rate is obtained which is applicable for removal of burrs having variable height, as described by suitable geometry functions. For illustrative purposes, simulations are carried out for a straight-edge burr profile and sinusoidal burr geometry. Results are reported which identify important relationships among brush feed rate, brush penetration depth, and brush rotational speed. In order to help assess the validity of the proposed analytical model and control strategy, experimental results are reported for a combination ramp/straight-edge burr configuration. The results demonstrate generally good correlation between the predicted and actual profile for the edge burr that has been machined. In addition, some important observations include; (1) burr removal is most rapidly carried out by using the highest brush speed and deepest brush/workpiece penetration depth, subject to the condition that the brush fiber is not damaged, (2) Currently available polymer abrasive brushing tools exhibit very slow machining characteristics and must be improved in order to be used in a production environment where burr size is appreciable, (3) Material removal characteristics of the leading and trailing edge of brushes may be a source of error which merits further investigation.

NEURAL MODELING AND CONTROL OF DYNAMIC SYSTEMS WITH HYSTERESIS

2007 ◽  
Vol 31 (1) ◽  
pp. 127-141
Author(s):  
Yonghong Tan ◽  
Xinlong Zhao
Keyword(s):  
Dynamic Systems ◽  
Control Strategy ◽  
Neural Modeling ◽  
Modeling And Control ◽  
Control Scheme ◽  
The Neural Networks ◽  
Adaptive Control Strategy ◽  
Set Up ◽  
Modeling Strategy ◽  
And Control

A hysteretic operator is proposed to set up an expanded input space so as to transform the multi-valued mapping of hysteresis to a one-to-one mapping so that the neural networks can be applied to model of the behavior of hysteresis. Based on the proposed neural modeling strategy for hysteresis, a pseudo control scheme is developed to handle the control of nonlinear dynamic systems with hysteresis. A neural estimator is constructed to predict the system residual so that it avoids constructing the inverse model of hysteresis. Thus, the control strategy can be used for the case where the output of hysteresis is unmeasurable directly. Then, the corresponding adaptive control strategy is presented. The application of the novel modeling approach to hysteresis in a piezoelectric actuator is illustrated. Then a numerical example of using the proposed control strategy for a nonlinear system with hysteresis is presented.

Inferential Control of a Distillation Column Using an Online Estimator

2008 ◽  
Vol 3 (1) ◽  
Author(s):  
Vijander Singh ◽  
Indra Gupta ◽  
Hari Om Gupta
Keyword(s):  
Data Acquisition ◽  
Product Quality ◽  
Control Strategy ◽  
Distillation Column ◽  
Measurement Techniques ◽  
Data Acquisition System ◽  
Distillation Process ◽  
Present Scheme ◽  
Inferential Control ◽  
Control Scheme

The time to measure and maintain distillate quality in the presence of disturbances is the main objective of the distillation process. To maintain the product quality, a suitable tray temperature is kept constant with the help of a control strategy near its set point. As the controlled variables cannot be measured online easily due to measurement lags and sampling delays, the secondary measurement techniques are used to estimate the distillate quality by adjusting the values of manipulated variables (inferential control). This paper presents an inferential control scheme for a distillation column using an Ethernet-based data acquisition system to provide a standard online estimator. In the present scheme the distillation parameters are acquired from a client PC connected to the network and the distillate composition is estimated online by a developed ANN-based estimator. The above estimator is used for an inferential control strategy to control distillate composition. The inferential control scheme is exercised for various disturbances and the effect of the disturbances is observed on distillate quality.

The mechanics of biped running and a stable control strategy

Robotica ◽  
2008 ◽  
Vol 27 (05) ◽  
pp. 789 ◽  
Author(s):  
Muhammad E. Abdallah ◽  
Kenneth J. Waldron
Keyword(s):  
Control Strategy ◽  
Stable Control

scholarly journals Coordinated Frequency Control Strategy with the Virtual Battery Model of Inverter Air Conditionings

2019 ◽  
Vol 9 (15) ◽  
pp. 3052
Author(s):  
Jiafu Yin ◽  
Dongmei Zhao
Keyword(s):  
Control Strategy ◽  
Frequency Control ◽  
Hierarchical Control ◽  
Frequency Regulation ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Response Characteristics ◽  
Battery Model ◽  
Control Framework ◽  
Control Scheme

Due to the potential of thermal storage being similar to that of the conventional battery, air conditioning (AC) has gained great popularity for its potential to provide ancillary services and emergency reserves. In order to integrate numerous inverter ACs into secondary frequency control, a hierarchical distributed control framework which incorporates a virtual battery model of inverter AC is developed. A comprehensive derivation of a second-order virtual battery model has been strictly posed to formulate the frequency response characteristics of inverter AC. In the hierarchical control scheme, a modified control performance index is utilized to evaluate the available capacity of traditional regulation generators. A coordinated frequency control strategy is derived to exploit the complementary and advantageous characteristics of regulation generators and aggregated AC. A distributed consensus control strategy is developed to guarantee the fair participation of heterogeneous AC in frequency regulation. The finite-time consensus protocol is introduced to ensure the fast convergence of power tracking and the state-of-charge (SOC) consistency of numerous ACs. The effectiveness of the proposed control strategy is validated by a variety of illustrative examples.

Modeling and Designing of Urban Traffic Control Systems by Statecharts

2011 ◽  
Vol 308-310 ◽  
pp. 1582-1585
Author(s):  
Yi Sheng Huang ◽  
Tso Hsien Liao
Keyword(s):  
Boolean Function ◽  
Control Systems ◽  
Dynamic Model ◽  
Control Strategy ◽  
Traffic Control ◽  
Propositional Logic ◽  
Urban Traffic ◽  
Hierarchical Tree ◽  
Tree Diagram ◽  
Urban Traffic Control

Statechart has been utilized as a visual formalism for the modeling of complex systems. It illuminates the features on describing properties of causality, concurrency and synchronization. The reachability structure is used to represented dynamic model by a Boolean function. In this paper, we try to describe State invariant method and equation function for hierarchical tree diagram. Finally, we used them to analyze the urban traffic control systems which are modeled by using Statecharts. Their formalism provides a concept of propositional logic for presenting control strategy.

Sign in / Sign up

Export Citation Format

Share Document