scholarly journals A closed-loop dynamics analysis by Appel's method.

1986 ◽  
Vol 4 (1) ◽  
pp. 9-15
Author(s):  
Takahiro MASUDA ◽  
Akemi FUTAKAWA ◽  
Suguru ARIMOTO ◽  
Fumio MIYAZAKI
Keyword(s):  
Closed Loop ◽  
Dynamics Analysis ◽  
Loop Dynamics

Closed-loop dynamics analysis by Appel's method

1987 ◽  
Vol 2 (3) ◽  
pp. 227-240
Author(s):  
Takahiro Masuda ◽  
Akemi Futakawa ◽  
Suguru Arimoto ◽  
Fumio Miyazaki
Keyword(s):  
Closed Loop ◽  
Dynamics Analysis ◽  
Loop Dynamics

Linearization of the Closed-Loop Dynamics of a Dual-Spin Spacecraft

1971 ◽  
Vol 8 (9) ◽  
pp. 938-945 ◽  
Author(s):  
KEVIN J. PHILLIPS
Keyword(s):  
Closed Loop ◽  
Loop Dynamics

Nonlinear control for modular multilevel converters with enhanced stability region and arbitrary closed loop dynamics

2021 ◽  
Vol 126 ◽  
pp. 106590
Author(s):  
Guacira Costa de Oliveira ◽  
Gilney Damm ◽  
Renato Machado Monaro ◽  
Luís F.N. Lourenço ◽  
Miguel Jimenez Carrizosa ◽  
...  
Keyword(s):  
Nonlinear Control ◽  
Stability Region ◽  
Closed Loop ◽  
Multilevel Converters ◽  
Loop Dynamics ◽  
Modular Multilevel Converters ◽  
Enhanced Stability

scholarly journals Multiconsensus of Nonlinear Multiagent Systems with Intermittent Communication

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Jie Chen ◽  
Guang-Hui Xu ◽  
Liang Geng
Keyword(s):  
Nonlinear Dynamics ◽  
Lyapunov Function ◽  
Multiagent Systems ◽  
Closed Loop ◽  
Sufficient Conditions ◽  
Control Parameters ◽  
Numerical Examples ◽  
Relative Information ◽  
Loop Dynamics ◽  
Intermittent Communication

Compared with single consensus, the multiconsensus of multiagent systems with nonlinear dynamics can reflect some real-world cases. This paper proposes a novel distributed law based only on intermittent relative information to achieve the multiconsensus. By constructing an appropriate Lyapunov function, sufficient conditions on control parameters are derived to undertake the reliability of closed-loop dynamics. Ultimately, the availability of results is completely validated by these numerical examples.

Absolute Stability Analysis Using the Liénard Equation: A Study Derived From Control of Fuel Cell Ultracapacitor Hybrids

2016 ◽  
Vol 138 (3) ◽  
Author(s):  
William Nowak ◽  
Daniel Geiyer ◽  
Tuhin Das
Keyword(s):  
Closed Loop ◽  
Operating Mode ◽  
Liénard Equation ◽  
Nonlinear Characteristics ◽  
Load Following ◽  
Systems And Control ◽  
Loop Dynamics ◽  
Variable Power ◽  
Lienard Equation ◽  
And Control

Load-following in solid oxide fuel cells (SOFCs), hybridized with an ultracapacitor for energy storage, refers to an operating mode where the fuel cell's generated power follows the variable power demand, delivering the total demanded power at steady-state. Implementing this operating mode presents a rich set of problems in dynamical systems and control. This paper focuses on state-of-charge (SOC) control of the ultracapacitor during load-following, under transient constraints, and in the presence of an unknown nonlinearity. The problem is generalized to stabilization of a plant containing a cascaded connection of a driver and a driven dynamics, where the former is nonlinear and largely unknown. Closed-loop stability of the system is studied as a Lur'e problem and via energy-based Lyapunov equations, but both impose conservative conditions on the nonlinearity. An alternate approach is developed, where the closed-loop dynamics are formulated as a class of Liénard equations. The corresponding analysis, which is based on the nonlinear characteristics of the Liénard equation, yields more definitive and less conservative stability criteria. Additional conditions that lead to limit cycles are also derived, and a bifurcation pattern is revealed. The generality of the proposed approach indicates applicability to a variety of nonlinear systems.

Global effects of controller saturation on closed-loop dynamics

1985 ◽  
Vol 40 (12) ◽  
pp. 2191-2205 ◽  
Author(s):  
Liang-Heng Chen ◽  
Hsueh-Chia Chang
Keyword(s):  
Closed Loop ◽  
Loop Dynamics

scholarly journals Symmetry and reduction in collectives: low-dimensional cyclic pursuit

2016 ◽  
Vol 472 (2194) ◽  
pp. 20160465 ◽  
Author(s):  
Kevin S. Galloway ◽  
Eric W. Justh ◽  
P. S. Krishnaprasad
Keyword(s):  
Closed Loop ◽  
Physical Space ◽  
Relative Equilibria ◽  
Two Dimensions ◽  
Three Dimensions ◽  
Control Schemes ◽  
Loop Dynamics ◽  
Cyclic Pursuit ◽  
Steering Law ◽  
Low Dimensional

We investigate low-dimensional examples of cyclic pursuit in a collective, wherein each agent employs a constant bearing (CB) steering law relative to exactly one other agent. For the case of three agents in the plane, we characterize relative equilibria and pure shape equilibria of associated closed-loop dynamics. Re-scaling time yields a reduction of phase space to two dimensions and effective tools for stability analysis. Study of bifurcation of a family of collinear equilibria dependent on a single CB control parameter reveals the presence of a rich collection of trajectories that are periodic in shape and undergo precession in physical space. For collectives in three dimensions, with an appropriate notion of CB pursuit strategy and corresponding steering law, the two-agent case proves to be explicitly integrable. These results suggest control schemes for small teams of mobile robotic agents engaged in area coverage tasks such as search and rescue, and raise interesting possibilities for behaviour in biological contexts.

Control of a Handwriting Robot with DOF Redundancy Based on Feedback in Task Coordinates

2004 ◽  
Vol 16 (4) ◽  
pp. 381-387 ◽  
Author(s):  
Hiroe Hashiguchi ◽  
◽  
Suguru Arimoto ◽  
Ryuta Ozawa
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Sensory Feedback ◽  
Closed Loop ◽  
Joint Space ◽  
Hand Dexterity ◽  
Loop Dynamics ◽  
Additional Input ◽  
Ill Posed ◽  
Joint Motions

To enhance robot hand dexterity, it is said that the robot should be designed to have a redundant number of degrees of freedom. In redundant robotic systems, inverse kinematics from task description space to joint space becomes ill-posed, making it difficult to determine joint motions. To avoid this ill-posedness, most proposed methods introduce an additional input term calculated from an intentionally introduced artificial index of performance. We propose a 4 DOF redundant handwriting robot using novel simple control to solve the problem of ill-posedness based on sensory feedback. We demonstrate the effectiveness of proposed control in computer simulation of closed-loop dynamics with the constraint that the robot’s endpoint be always on a two-dimensional plane.

Sign in / Sign up

Export Citation Format

Share Document