Experiments with nontraditional hybrid control technique of biped locomotion robots

1996 ◽  
Vol 16 (1) ◽  
pp. 25-43 ◽  
Author(s):  
Miomir Vukobratović ◽  
Olga Timčenko
Keyword(s):  
Hybrid Control ◽  
Control Technique ◽  
Biped Locomotion

In Search of a Suitable Control Policy for Intelligent Vehicle Suspensions

2002 ◽  
Author(s):  
Fernando D. Goncalves ◽  
Mehdi Ahmadian
Keyword(s):  
Steady State ◽  
Hybrid Control ◽  
Control Policy ◽  
Control Technique ◽  
Intelligent Vehicle ◽  
Alternative Control ◽  
Control Policies ◽  
Peak Displacement ◽  
Vehicle Suspensions ◽  
Magneto Rheological

Many control policies, such as skyhook and groundhook control, are now being considered for intelligent vehicle suspensions. Past studies have shown the performance limitations of these policies, as well as others that have been considered for vehicle applications. The performance of three semi-active control policies were studied experimentally under steady-state and transient inputs. Experimental results were obtained using a quarter-car rig and a magneto-rheological damper. The commonly considered skyhook and groundhook control policies were employed and evaluated under a steady-state, or pure tone, input and a transient, or step input. An alternative control technique called “hybrid control,” which attempts to merge the performance benefits of skyhook and groundhook control was also considered. Peak-to-peak displacement and peak-to-peak acceleration were used to evaluate performance. The results indicate that while skyhook and groundhook can offer benefits to either the sprung or unsprung masses, hybrid control can offer benefits to both masses. The compromise inherent in both skyhook and groundhook is eliminated with the use of hybrid control. Both the steady-state and transient dynamics of the sprung and unsprung masses can be reduced below those of passive using hybrid control with an α of 0.5. This corresponds to equal contributions from skyhook control and groundhook control.

Towards Robust Non-Fragile Control in Wind Energy Engineering

2017 ◽  
Vol 7 (1) ◽  
pp. 29 ◽  
Author(s):  
M. A. Ebrahim
Keyword(s):  
Wind Energy ◽  
Hybrid Control ◽  
Operating Conditions ◽  
Control Technique ◽  
Robust Controller ◽  
Wind Energy Conversion ◽  
Wide Range ◽  
Energy Conversion System ◽  
Referential Integrity ◽  
Energy Engineering

<p>Blade Pitch Controller (BPC) that can cope system uncertainties is one of the most interesting topics in wind energy engineering. Therefore, this paper presents a step towards the design of robust non-fragile BPC for wind energy conversion system. The proposed approach presents all boundaries of stability region that can guarantee robust stability (RS) over a wide range of operating conditions. The proposed technique results from the complementarity of both Root-Locus and Routh-Hurwitz (RL/RH) approach. Continuous variation in the operating conditions is tackled through a new hybrid control technique based on the referential integrity of both RL/RH and Kharitonov (Kh) theorem. Simulation results confirm the effectiveness of the proposed designing approach in computing the most resilient and robust controller.</p>

Hybrid control technique applied in a FC-SC electric vehicle platform

2010 ◽  
Author(s):  
Ilse Cervantes ◽  
Francisco J. Perez-Pinal ◽  
Jesus Leyva-Ramos ◽  
Angelica Mendoza-Torres
Keyword(s):  
Electric Vehicle ◽  
Hybrid Control ◽  
Control Technique ◽  
Vehicle Platform

A novel hybrid control technique for bifurcation in an exponential RED algorithm

2020 ◽  
Vol 48 (9) ◽  
pp. 1476-1492
Author(s):  
Jun Yuan ◽  
Lingzhi Zhao ◽  
Chengdai Huang ◽  
Min Xiao
Keyword(s):  
Hybrid Control ◽  
Control Technique ◽  
Exponential Red

scholarly journals A Hybrid Control Policy for Semi-Active Vehicle Suspensions

2003 ◽  
Vol 10 (1) ◽  
pp. 59-69 ◽  
Author(s):  
Fernando D. Goncalves ◽  
Mehdi Ahmadian
Keyword(s):  
Steady State ◽  
Hybrid Control ◽  
Control Policy ◽  
Control Technique ◽  
Peak Acceleration ◽  
Alternative Control ◽  
Peak Displacement ◽  
Vehicle Suspensions ◽  
Magneto Rheological ◽  
Unsprung Mass

Various control policies, such as skyhook and groundhook control, have often been considered for semi-active vehicle suspensions. Past studies have shown the performance limitations of these policies, as well as others that have been considered for vehicle applications. This study will provide a look into an alternative control technique called "hybrid control", which attempts to merge the performance benefits of skyhook and groundhook control. The results of this study are based on an experimental evaluation of hybrid control using a quarter-car rig and a magneto-rheological damper. The control policy is employed and evaluated under a steady-state or pure tone input, and a transient or step input. Peak-to-peak displacement and peak-to-peak acceleration are used to evaluate performance. The results indicate that hybrid control can offer benefits to both the sprung mass and the unsprung mass. The steady-state results reveal that hybrid control can be used to reduce the peak-to- peak displacements and accelerations of both bodies. The transient evaluation shows that hybrid control can be effective at reducing the peak-to-peak displacement of the sprung mass.

Autonomous line follower robot with fuzzy based hybrid controller

2020 ◽  
Vol 39 (5) ◽  
pp. 6021-6031
Author(s):  
Anıl Sezgin ◽  
Ömer Çetin
Keyword(s):  
Autonomous Navigation ◽  
Control Method ◽  
Hybrid Control ◽  
Ground Surface ◽  
Control Technique ◽  
Mobile Platforms ◽  
Control Approach ◽  
Advantages And Disadvantages ◽  
External Supports ◽  
Smart Cars

The autonomous navigation problem is currently a popular research topic encountered in many different areas, from smart cars to automated warehouse operations. Autonomous navigation of robotic systems is examined in two basic areas, with and without external supports. Even if the robot uses external supports (like GPS, road signs, ground surface lines, barcodes etc.) or positioning itself with internal sensors (like gyro, IMU, etc.), it independently needs a control method to follow the desired route. When the widely used control approaches in the literature are examined, PID and fuzzy-based approaches are frequently encountered. They both offer advantages and disadvantages. Within the scope of this study, the positive aspects of both of control approaches are utilized and the hybrid control approach for a robot that can autonomously follow the ground line presented as an external reference is mentioned. The success of the approach was tested comparatively on an exemplary mobile platform. The applied results obtained experimentally showed that a more efficient fuzzy logic-based hybrid control method could be developed. In addition, the effect of the number of conditions in the rule table on the success of the hybrid control technique is shown in the study. It has also been experimentally demonstrated that the success of hybrid control approach with a limited low power consuming ARM based processor that is suitable to control most of lightweight mobile platforms.

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