Autonomous control technique for high-performance switches

1992 ◽  
Vol 39 (3) ◽  
pp. 215-222 ◽  
Author(s):  
P.T. Krein ◽  
R.M. Bass
Keyword(s):  
High Performance ◽  
Autonomous Control ◽  
Control Technique

Series Active Variable Geometry Suspension Robust Control Based on Full-Vehicle Dynamics

2019 ◽  
Vol 141 (5) ◽  
Author(s):  
Cheng Cheng ◽  
Simos A. Evangelou
Keyword(s):  
High Performance ◽  
Performance Enhancement ◽  
Ride Comfort ◽  
The Body ◽  
Control Technique ◽  
Variable Geometry ◽  
Physical Constraints ◽  
Car Model ◽  
Time Domains ◽  
Vertical Accelerations

This paper demonstrates the ride comfort and road holding performance enhancement of the new road vehicle series active variable geometry suspension (SAVGS) concept using an H∞ control technique. In contrast with the previously reported work that considered simpler quarter-car models, the present work designs and evaluates control systems using full-car dynamics thereby taking into account the coupled responses from the four independently actuated corners of the vehicle. Thus, the study utilizes a nonlinear full-car model that represents accurately the dynamics and geometry of a high performance car with the new double wishbone active suspension concept. The robust H∞ control design exploits the linearized dynamics of the nonlinear model at a trim state, and it is formulated as a disturbance rejection problem that aims to reduce the body vertical accelerations and tire deflections while guaranteeing operation inside the existing physical constraints. The proposed controller is installed on the nonlinear full-car model, and its performance is examined in the frequency and time domains for various operating maneuvers, with respect to the conventional passive suspension and the previously designed SAVGS H∞ control schemes with simpler vehicle models.

EXPERIMENTAL REALIZATION OF DYNAMIC STAIR CLIMBING AND DESCENDING OF BIPED HUMANOID ROBOT, HUBO

2009 ◽  
Vol 06 (02) ◽  
pp. 205-240 ◽  
Author(s):  
JUNG-YUP KIM ◽  
ILL-WOO PARK ◽  
JUN-HO OH
Keyword(s):  
Control Strategy ◽  
High Performance ◽  
Humanoid Robot ◽  
Stair Climbing ◽  
Control Technique ◽  
Experimental Realization ◽  
Biped Walking ◽  
Switching Control Strategy ◽  
Stair Walking ◽  
And Performance

In this paper, dynamic stair climbing and descending are experimentally realized for a biped humanoid robot, HUBO. Currently, in addition to biped walking on the ground, other types of biped walking such as running, jogging, and stair walking (climbing and descending) have been also studied since the end of 1990. In spite of many years of research works on stair walking, it is still a challengeable topic that requires high performance of control technique. For dynamic stair walking, we designed stair climbing and descending patterns according to a known stair configuration. Next, we defined stair climbing and descending stages for a switching control strategy. In each stage, we designed and adopted several online controllers to maintain the balance. For the simplicity and easy application, the online controllers only use the force and torque signals of the force/torque sensors of the feet. Finally, the effectiveness and performance of the proposed strategy are verified through stair climbing and descending experiments of HUBO.

SDRE-based high performance feedback control for nonlinear mechatronic systems

2019 ◽  
Vol 38 (4) ◽  
pp. 1164-1176
Author(s):  
Slawomir Jan Stepien ◽  
Paulina Superczynska ◽  
Damian Dobrowolski ◽  
Jerzy Dobrowolski
Keyword(s):  
Control Problem ◽  
High Performance ◽  
Computational Effort ◽  
Control Technique ◽  
Feedback Gain ◽  
Nonlinear Feedback ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Content Type ◽  
State Dependent

Purpose The purpose of the paper is to present modeling and control of a nonlinear mechatronic system. To solve the control problem, the modified state-dependent Riccati equation (SDRE) method is applied. The control problem is designed and analyzed using the nonlinear feedback gain strategy for the infinite time horizon problem. Design/methodology/approach As a new contribution, this paper deals with state-dependent parametrization as an effective modeling of the mechatronic system and shows how to modify the classical form of the SDRE method to reduce computational effort during feedback gain computation. The numerical example compares described methods and confirms usefulness of the proposed technique. Findings The proposed control technique can ensure optimal dynamic response, reducing computational effort during control law computation. The effectiveness of the proposed control strategy is verified via numerical simulation. Originality/value The authors introduced an innovative approach to the well-known SDRE control methodology and settled their research in the newest literature coverage for this issue.

Autonomous Control Technique for an Air Hockey Table

2018 ◽  
Vol 24 (11) ◽  
pp. 8944-8950
Author(s):  
Mauricio J Mena ◽  
Cristian M Ruiz ◽  
Jessica S Ortiz ◽  
Víctor H Andaluz
Keyword(s):  
Autonomous Control ◽  
Control Technique

Aplicação do Filtro de Kalman Estendido com matrizes pré sintonizadas ao acionamento sensorless de motores de indução

2020 ◽  
Author(s):  
Leonardo De Magalhães Lopes ◽  
Zélia Myriam Assis Peixoto
Keyword(s):  
High Performance ◽  
Digital Signal ◽  
Control Technique ◽  
Reduced Order ◽  
Variance Matrix ◽  
Ac Electric Drive ◽  
Three Phase ◽  
High Performance Systems ◽  
Drive Systems ◽  
Signal Processors

Sensorless control methods stand out as an alternative for cost reduction and maintenance in AC electric drive systems. This work deals with the application of the Extended Kalman Filter (EKF) to the estimation of the speed and position of the rotor aiming at the implementation of the indirect vector control technique in a speed control system for three- phase induction motors. The Kalman lter, despite its mathematical and computational complexity, performs well under variable speed and load conditions as well as convergence times consistent with the usual requirements of high performance systems. The main contributions of this work are the use of a reduced-order EKF (ROEKF) and the co-variance matrix pretuning in order to accelerate the convergence in the velocity and position estimates for futureimplementations in digital signal processors currently accessible.

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