Anti-gravity technology by non-positive equivalent mass revealing UFO flying secrets

In this paper, a novel kind of anti-gravity technology by non-positive equivalent mass of aircraft is presented to try to reveal UFO flying secrets. Starting with a two-degree-of-freedom system, it is found that the system could produce an infinite acceleration under the condition of zero dynamic equivalent mass[1], and also provide a movement opposite to the direction of the external force under the negative equivalent mass[2]. These two cases with non-positive equivalent mass[3] could both be regarded as a novel kind of anti-gravity technology[4,5], which is also verified by a designed dynamic simulation experiment. For any aircraft that can be regarded as a multi-degree-of-freedom system driven by engine or other external forces[6], the non-positive equivalent mass could be designed out once the external input including gravity and engine exciting forces is known[7]. Thus the anti-gravity technology for any aircraft could be realized, which could also be extended to matters related to flight, such as space ships, missiles, airplanes, etc[8].

Control of negative gain nonlinear processes using sliding mode controllers with modified Nelder-Mead tuning equations

This paper proposes a sliding mode controller (SMC) with modified Nelder-Mead tuning, for the control of nonlinear chemical processes, which are represented as first order plus dead time process with negative gain (FOPDT-NG). In the controller design, the SMC controller parameter in continuous part is obtained based on the time constant and dead time of the process, and controller parameters in the discontinuous part is obtained using Nelder-Mead tuning equations. Even though the controller parameters of conventional SMC are tuned using Nelder-Mead tuning, zero dynamics are noticed in the closed loop response of few FOPDT-NG processes and, with few other FOPDT-NG processes tracking of set-point is unachievable. This work proposes modification in the Nelder-Mead tuning equations using Nelder-Mead optimization to overcome the above disadvantages. Four different types of FOPDT-NG processes are considered in this work, and for every type the Nelder-Mead tuning equations are modified, for the design of proposed controllers. The performances of proposed controllers are evaluated for FOPDT-NG processes and also for three different chemical processes taken from literature. A simulation results demonstrate that, the proposed controller prevailed the performance of the conventional SMC in tracking the set-point and the elimination of zero dynamic behavior of FOPDT-NG processes. Hence, the proposed controllers provide improved closed loop performances as compared to the conventional SMC.

A Novel Adaptive and Nonlinear Electrohydraulic Active Suspension Control System with Zero Dynamic Tire Liftoff

In this paper, a novel adaptive control system (NAC) is proposed for a restricted quarter-car electrohydraulic active suspension system. The main contribution of this NAC is its explicit tackling of the trade-off between passenger comfort/road holding and passenger comfort/suspension travel. Reducing suspension travel oscillations is another control target that was considered. Many researchers have developed control laws for constrained active suspension systems. However, most of the studies in the works of the latter have not directly examined the compromise between road holding, suspension travel, and passenger comfort. In this study, we proposed a novel adaptive control system to explicitly address the trade-off between passenger comfort and road holding, as well as the compromise between passenger comfort and suspension travel limits. The novelty of our control technique lies in its introduction of a modeling system for a dynamic landing tire system aimed at avoiding a dynamic tire liftoff. The proposed control consists of an adaptive neural networks’ backstepping control, coupled with a nonlinear control filter system aimed at tracking the output position of the nonlinear filter. The tracking control position is the difference between the sprung mass position and the output nonlinear filter signal. The results indicate that the novel adaptive control (NAC) can achieve the handling of car–road stability, ride comfort, and safe suspension travel compared to that of the other studies, demonstrating the controller’s effectiveness.

Feedforward control for underactuated bipedal walking on compliant continuous steps with varying height

This study develops a feedforward control strategy based on the motion state of center-of-mass (CoM) of a robot for underactuated biped robot stable walking on compliant continuous steps with a known varying height. First, considering ground deformation, a compliant contact model is employed to characterize foot-ground interaction, and a robot–step coupling dynamic model of sagittal and lateral planes are established through decoupling modelling. Second, based on the gait characteristics of human variable-step walking, a feedforward control strategy based on the motion state of CoM is proposed. Varying height step is equivalent to varying slope, an equivalent slope angle and a desired step length can be calculated for each step according to their height. Underactuated bipedal walking control is decoupled into sagittal and lateral master-slave control. The velocity of robot CoM is considered as a system output. It is controlled through the displacement of CoM in a single walking cycle, and thus walking is stabilized. By the proposed method, the walking system is modelled as a polynomial with definite number of degrees and the controlled input is derived through a simple inverse operation on it. Its effectiveness is validated through simulations in an environment with a step varying height of less than 0.032 m. Simulation results show that the proposed method can improve the tracking performance of robot CoM velocity on varying height steps, as compared to a hybrid zero dynamic (HZD)-based controller.