Performance and stability of fly-inspired, saccade-based hybrid control

In a way analogous to human vision, the fruit fly Drosophila melanogaster and many other flying insects generate smooth and saccadic movements to stabilize and shift their gaze in flight, respectively. It has been hypothesized that this combination of continuous and discrete movements benefits both flight stability and performance, particularly at high frequencies or speeds. Here we develop a hybrid control system model to explore the effects of saccades on the yaw stabilization reflex of D. melanogaster. Inspired from experimental data, the model includes a first order plant, a Proportional-Integral (PI) continuous controller, and a saccadic reset system that fires based on the integrated error of the continuous controller. We explore the gain, delay and switching threshold parameter space to quantify the optimum regions for stability and performance. We show that the addition of saccades to a continuous controller provides benefits to both stability and performance across a range of frequencies. Our model suggests that Drosophila operate near its optimal switching threshold for its experimental gain set. We also show that based on experimental data, D. melanogaster operates in a region that trades off performance and stability. This trade-off increases flight robustness to compensate for environmental uncertainties such as wing damage.

A peg-in-hole controller for cable-driven serial robots with compliant wrist based on cable tensions and joint positions

Purpose This purpose of this paper is to design a peg-in-hole controller for a cable-driven serial robot with compliant wrist (CDSR-CW) using cable tensions and joint positions. The peg is connected to the robot link through a CW. It is required that the controller does not rely on any external sensors such as 6-axis wrist force/torque (F/T) sensor, and only the compliance matrix’s estimated value of the CW is known. Design/methodology/approach First, the peg-in-hole assembly system based on a CDSR-CW is analyzed. Second, a characterization algorithm using micro cable tensions and joint positions to express the elastic F/T at the CW is established. Next, under the premise of only knowing the compliance matrix’s estimate, a peg-in-hole controller based on force/position hybrid control is proposed. Findings The experiment results show that the plug contact F/T can be tracked well. This verifies the validity and correctness of the characterization algorithm and peg-in-hole controller for CDSR-CWs in this paper. Originality/value First, to the authors’ knowledge, there is no relevant work about the peg-in-hole assembly task using a CDSR-CW. Besides, the proposed characterization algorithm for the elastic F/T makes the peg-in-hole controller get rid of the dependence on the F/T sensor, which expands the application scenarios of the peg-in-hole controller. Finally, the controller does not require an accurate compliance matrix, which also increases its applicability.

Implementation and Validation of Hybrid Control for a DFIG Wind Turbine Using an FPGA Controller Board

In this study, a novel control approach for a doubly-fed induction generator (DFIG) is developed and applied to improve the system’s dynamic response and performance for providing high energy quality while avoiding harmonic accumulations. Because of its ease of implementation, field-oriented control (FOC) is frequently used. This control has great sensitivity to the machine’s parametric variations. For this reason, adaptive Backstepping control (ABC) is capable of preserving almost all of the performance and robustness properties. However, its analytical formulation has a problem. To overcome these disadvantages, the hybrid control (HC) is developed and verified to enable rapid response, complete reference tracking, and appropriate dynamic behavior with a low ripple level. This control is a combination of FOC’s and ABC’s control laws. The prepared control is explored by simulation testing using Matlab/Simulink and practical implementation using an FPGA board with actual turbine settings and a real wind profile of Dakhla City, Morocco. The results of hardware simulation show the efficacy of the HC in terms of speed and robustness, with a total harmonic distortion THD = 0.95, a value of THD that reveals the quality of the energy injected into the grid.

Subcritical Neimark–Sacker bifurcation and hybrid control in a discrete-time Phytoplankton–Zooplankton model

In this paper, we explore the local dynamical behavior with different topological classifications around fixed points, Neimark–Sacker bifurcation and hybrid control in the discrete-time Phytoplankton–Zooplankton model. More precisely, we have investigated the local dynamical behavior with different topological classifications around trivial, semitrivial and interior fixed points of the two-dimensional Phytoplankton–Zooplankton model, respectively. The existence of possible bifurcations around fixed points is also investigated, and it is proved that there exists no flip bifurcation around trivial and semitrivial fixed points but around interior fixed point, the model undergoes Neimark–Sacker bifurcation only. Moreover, hybrid control strategy is utilized for controlling Neimark–Sacker bifurcation in the Phytoplankton–Zooplankton model. Lastly, theoretical results are verified numerically.