Discretization of continuous control laws

1996 ◽  
Author(s):  
J. Lottin
Keyword(s):  
Continuous Control ◽  
Control Laws

scholarly journals Synthesis of intelligent fuzzy control in the space of bounded piecewise-continuous functions based on the combined maximum principle

2018 ◽  
Vol 226 ◽  
pp. 04031 ◽  
Author(s):  
Andrey A. Kostoglotov ◽  
Sergey V. Lazarnko ◽  
Igor A. Nikitin
Keyword(s):  
Control Method ◽  
Control Object ◽  
Continuous Functions ◽  
Terminal State ◽  
Control Synthesis ◽  
Continuous Control ◽  
Control Laws ◽  
Relay Control ◽  
Piecewise Continuous ◽  
Two Stages

It is shown that the solution of the problem of control synthesis using the Hamilton-Ostrogradskii principle leads to a variational inequality, from which the conditions for the maximum of the the generalized power function in the space of bounded piecewise continuous functions follow. It allows to find a feedback structure up to a synthesis function. Using the methods of the structure construction the nonlinear structures of the relay and continuous control laws are obtained. The proposed control method allows to avoid the mode with frequented switching. It consists of the following two stages. At the first stage, the control object is brought into the vicinity of the terminal state using the relay control law. In the second stage, the quasi-optimal continuous control is used. The uncertainty of the transition area size is resolved using fuzzy logic. The efficiency of the intelligent controls is demonstrated by the example of mathematical modeling of the system dynamics.

Joint Impedance Pneumatic Control for Multilink Systems

1999 ◽  
Vol 121 (2) ◽  
pp. 293-297 ◽  
Author(s):  
P. Gorce ◽  
M. Guihard
Keyword(s):  
Biped Robot ◽  
Legged Robots ◽  
Continuous Control ◽  
Nonlinear Controller ◽  
Control Laws ◽  
Pneumatic Control ◽  
Dynamic Tracking ◽  
Mechanical Models ◽  
Good Behaviour ◽  
Computed Torque

In this paper, we propose a general controller for complex tasks such as coordination or manipulation for grasping systems or dynamic gaits for legged robots. Moreover, this controller is adapted to pneumatic actuated structures. The aim is then to ensure a dynamic tracking of position and force for systems which may interact with the environment or cooperate with each other. For that, we propose a nonlinear controller based on a computed torque method taking into account the actuator and the mechanical models. The originality lays in the consideration of impedance behaviour at each joint during free and constrained tasks. It leads to continuous control laws between contact and non-contact phases. The asymptotic stability is ensured using Popov criteria. The application proposed is the control of one pneumatic leg of a biped robot. We present a dynamic model of the leg and chosen trajectories. Simulation results of this new controller are presented, leading to a good behaviour of the leg during a whole walking cycle at relatively high velocities.

Perceiving Possibilities for Action: On the Necessity of Calibration and Perceptual Learning for the Visual Guidance of Action

Perception ◽  
10.1068/p5405 ◽  
2005 ◽  
Vol 34 (6) ◽  
pp. 717-740 ◽  
Author(s):  
Brett R Fajen
Keyword(s):  
Perceptual Learning ◽  
Visual Information ◽  
Human Performance ◽  
Moving Objects ◽  
Continuous Control ◽  
Visually Guided ◽  
Control Laws ◽  
Current State ◽  
Visually Guided Action ◽  
New Framework

Tasks such as steering, braking, and intercepting moving objects constitute a class of behaviors, known as visually guided actions, which are typically carried out under continuous control on the basis of visual information. Several decades of research on visually guided action have resulted in an inventory of control laws that describe for each task how information about the sufficiency of one's current state is used to make ongoing adjustments. Although a considerable amount of important research has been generated within this framework, several aspects of these tasks that are essential for successful performance cannot be captured. The purpose of this paper is to provide an overview of the existing framework, discuss its limitations, and introduce a new framework that emphasizes the necessity of calibration and perceptual learning. Within the proposed framework, successful human performance on these tasks is a matter of learning to detect and calibrate optical information about the boundaries that separate possible from impossible actions. This resolves a long-lasting incompatibility between theories of visually guided action and the concept of an affordance. The implications of adopting this framework for the design of experiments and models of visually guided action are discussed.

Motion Control of a Flock of 1-Trailer Robots with Swarm Avoidance

Robotica ◽  
2021 ◽  
pp. 1-26
Author(s):  
Jai Raj ◽  
Krishna Raghuwaiya ◽  
Bibhya Sharma ◽  
Jito Vanualailai
Keyword(s):  
Motion Planning ◽  
Control Problem ◽  
Motion Control ◽  
Dynamic Environment ◽  
Continuous Control ◽  
Control Laws ◽  
Planning And Control ◽  
Control Scheme ◽  
And Control ◽  
Emergent Behaviors

SUMMARY This paper addresses the motion planning and control problem of a system of 1-trailer robots navigating a dynamic environment cluttered with obstacles including a swarm of boids. A set of nonlinear continuous control laws is proposed via the Lyapunov-based Control Scheme for collision, obstacle, and swarm avoidances. Additionally, a leader–follower strategy is utilized to allow the flock to split and rejoin when approaching obstacles. The effectiveness of the control laws is demonstrated through numerical simulations, which show the split and rejoin maneuvers by the flock when avoiding obstacles while the swarm exhibits emergent behaviors.

Sign in / Sign up

Export Citation Format

Share Document