Local controllability of control-affine systems with quadractic drift and constant control-input vector fields

2012 ◽  
Author(s):  
Cesar O. Aguilar
Keyword(s):  
Vector Fields ◽  
Input Vector ◽  
Local Controllability ◽  
Control Input ◽  
Affine Systems ◽  
Constant Control

scholarly journals A Comparative Study of Formation Control at the Earth-Moon L₂ Libration Point

2021 ◽  
Author(s):  
Waqas A. Manzoor
Keyword(s):  
Formation Control ◽  
Controller Design ◽  
Libration Point ◽  
Control Strategies ◽  
Control Input ◽  
Control Methods ◽  
Space Applications ◽  
Affine Systems ◽  
The Earth ◽  
And Control

This thesis examines the performance of control methods that fall under the optimal, predictive and adaptive classifications, subjected to sensor/actuator faults, and presents approaches to apply them to non-affine systems utilizing single thruster and solar sail actuator configurations. The system of interest consists of a leader-follower satellite formation near the L2 point of the Earth-Moon system. The control methods studied here include those which are emerging in the space systems literature, and are evaluated in terms of their transient and steady state responses, and control input variation. Numerical simulation of faults affecting both sensor and propulsion actuator systems are conducted, along with an experiment to validate the results in a laboratory environment. The observed behavioral characteristics in the simulations match those demonstrated in the experiment. Alternative representations of dynamics were explored for controller design of non-affine systems. The research presented herein provides support for the usage of the proposed control strategies in future space applications.

scholarly journals A Comparative Study of Formation Control at the Earth-Moon L₂ Libration Point

2021 ◽  
Author(s):  
Waqas A. Manzoor
Keyword(s):  
Formation Control ◽  
Controller Design ◽  
Libration Point ◽  
Control Strategies ◽  
Control Input ◽  
Control Methods ◽  
Space Applications ◽  
Affine Systems ◽  
The Earth ◽  
And Control

This thesis examines the performance of control methods that fall under the optimal, predictive and adaptive classifications, subjected to sensor/actuator faults, and presents approaches to apply them to non-affine systems utilizing single thruster and solar sail actuator configurations. The system of interest consists of a leader-follower satellite formation near the L2 point of the Earth-Moon system. The control methods studied here include those which are emerging in the space systems literature, and are evaluated in terms of their transient and steady state responses, and control input variation. Numerical simulation of faults affecting both sensor and propulsion actuator systems are conducted, along with an experiment to validate the results in a laboratory environment. The observed behavioral characteristics in the simulations match those demonstrated in the experiment. Alternative representations of dynamics were explored for controller design of non-affine systems. The research presented herein provides support for the usage of the proposed control strategies in future space applications.

A Disturbance Attenuation Approach for a Class of Continuous Piecewise Affine Systems: Control Design and Experiments

2010 ◽  
Vol 132 (4) ◽  
Author(s):  
A. Doris ◽  
N. van de Wouw ◽  
W. P. M. H. Heemels ◽  
H. Nijmeijer
Keyword(s):  
Closed Loop ◽  
Control Design ◽  
Steady State Solution ◽  
Disturbance Attenuation ◽  
Stable Steady State ◽  
Engineering Practice ◽  
Control Input ◽  
Piecewise Affine Systems ◽  
Affine Systems ◽  
Piecewise Affine

We consider the disturbance attenuation problem for a class of continuous piecewise affine systems. Hereto, observer-based output-feedback controllers are proposed that render the closed-loop system uniformly convergent. The convergence property ensures, first, stability and, second, the existence of a unique, bounded, globally asymptotically stable steady-state solution for each bounded disturbance. The latter property is key in uniquely specifying closed-loop performance in terms of disturbance attenuation. Because of its importance in engineering practice, the class of harmonic disturbances is studied in particular and performance measures for this class of disturbances are proposed based on so-called generalized frequency response functions for convergent systems. Additionally, the derived control strategy is extended by including conditions that guarantee the satisfaction of a bound on the control input. The effectiveness of the proposed control design strategy is illustrated by the application of the results to an experimental benchmark system being a piecewise affine beam system.

RANCANG BANGUN MESIN PEMOTONG RUMPUT TENAGA SURYA UNTUK NAVIGASI

2015 ◽  
Vol 1 (1) ◽  
pp. 5-16
Author(s):  
John Ohoiwutun
Keyword(s):  
High Speed ◽  
Solar Power ◽  
Human Life ◽  
Operating Cost ◽  
Fuel Oil ◽  
Kinematics And Dynamics ◽  
Control Input ◽  
High Speed Cutting ◽  
Lawn Mower ◽  
Coal Fuel

Utilization of conventional energy sources such as coal, fuel oil, natural gas and others on the one hand has a low operating cost, but on the other side of the barriers is the greater source of diminishing returns and, more importantly, the emergence of environmental pollution problems dangerous to human life. This study aims to formulate the kinematics and dynamics to determine the movement of Solar Power Mower. In this study, using solar power as an energy source to charge the battery which then runs the robot. Design and research was conducted in the Department of Mechanical Workshop Faculty of Engineering, University of Hasanuddin of Gowa. Control system used is a manual system using radio wave transmitter and receiver which in turn drive the robot in the direction intended. Experimental results showed that treatment with three variations of the speed of 6.63 m / s, 8.84 m / s and 15.89 m / sec then obtained the best results occur in grass cutting 15.89 sec and high-speed cutting grass 5 cm. Formulation of kinematics and dynamics for lawn mowers, there are 2 control input variables, x and y ̇ ̇ 3 to control the output variables x, y and θ so that there is one variable redudant. Keywords: mobile robots, lawn mower, solar power

Feedforward Compensation by Specified Step Settling Considering Constraint on Control Input

2010 ◽  
Vol 130 (6) ◽  
pp. 785-792 ◽  
Author(s):  
Noriaki Hirose ◽  
Makoto Iwasaki ◽  
Hiromu Hirai
Keyword(s):  
Control Input

Initial Value Compensation with Additional Input Considering Optimization of Control Input

2008 ◽  
Vol 128 (10) ◽  
pp. 1219-1227 ◽  
Author(s):  
Noriaki Hirose ◽  
Yasuhisa Terachi ◽  
Motohiro Kawafuku ◽  
Makoto Iwasaki ◽  
Hiromu Hirai
Keyword(s):  
Control Input ◽  
Initial Value ◽  
Additional Input
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