Three Degrees of Freedom Restricted Structure Optimal Control for quasi-LPV Systems

2018 ◽  
Author(s):  
Mike J Grimble
Keyword(s):  
Optimal Control ◽  
Degrees Of Freedom ◽  
Lpv Systems ◽  
Three Degrees Of Freedom

scholarly journals Control of Three Degrees-of-Freedom Wave Energy Converters Using Pseudo-Spectral Methods

2018 ◽  
Vol 140 (7) ◽  
Author(s):  
Ossama Abdelkhalik ◽  
Shangyan Zou ◽  
Rush Robinett ◽  
Giorgio Bacelli ◽  
David Wilson ◽  
...  
Keyword(s):  
Optimal Control ◽  
Wave Energy ◽  
Parametric Excitation ◽  
Degrees Of Freedom ◽  
Closed Form Solution ◽  
Form Solution ◽  
Programming Approach ◽  
Wave Energy Converters ◽  
Pseudo Spectral ◽  
Three Degrees Of Freedom

Abstract This paper presents a solution to the optimal control problem of a three degrees-of-freedom (3DOF) wave energy converter (WEC). The three modes are the heave, pitch, and surge. The dynamic model is characterized by a coupling between the pitch and surge modes, while the heave is decoupled. The heave, however, excites the pitch motion through nonlinear parametric excitation in the pitch mode. This paper uses Fourier series (FS) as basis functions to approximate the states and the control. A simplified model is first used where the parametric excitation term is neglected and a closed-form solution for the optimal control is developed. For the parametrically excited case, a sequential quadratic programming approach is implemented to solve for the optimal control numerically. Numerical results show that the harvested energy from three modes is greater than three times the harvested energy from the heave mode alone. Moreover, the harvested energy using a control that accounts for the parametric excitation is significantly higher than the energy harvested when neglecting this nonlinear parametric excitation term.

scholarly journals Optimal control of a two-wheeled mobile robot: Simulation for selecting of the motors

2003 ◽  
Vol 16 (1) ◽  
pp. 55-65
Author(s):  
Milovan Radulovic ◽  
Dejan Popovic ◽  
Novak Jaukovic
Keyword(s):  
Optimal Control ◽  
Dynamic Programming ◽  
Mobile Robot ◽  
Degrees Of Freedom ◽  
Tracking Error ◽  
Mathematic Model ◽  
Discrete Mathematic ◽  
Inertia Properties ◽  
Three Degrees Of Freedom ◽  
Selection Of

This paper presents how a novel simulation package for optimal control based on dynamic programming can be used for selecting the drives once the constraints are known: range of speeds, trajectory (minimum radius for turns), load that will be carried by the mobile robot and its position on the platform (inertia! properties of the mobile robot with the load). We calculate the necessary driving torques at the wheels of the mobile robot for various trajectories having a shape of the figure eight within a given time. The simulation uses fully customized dynamic model of the mobile robot that is propelled by two independent wheels and has third non-powered wheel that freely rotates around the vertical shaft to ensure three degrees of freedom. Dynamic programming and the discrete mathematic model allow simulation of the non-holonomic system. We presented in this paper only one possible application, that is, the analysis of three different loads carried along the same trajectory. The simulation clearly shows the relation between the tracking error and required diving torque; thereby, allow selection of the adequate driving motors for a given load and vice versa.

scholarly journals Active Disturbance Rejection for a Three Degrees of Freedom Gyroscope

2018 ◽  
Vol 51 (13) ◽  
pp. 372-377 ◽  
Author(s):  
Juan E. Andrade García ◽  
Alejandra Ferreira de Loza ◽  
Luis T. Aguilar ◽  
Ramón I. Verdés
Keyword(s):  
Disturbance Rejection ◽  
Degrees Of Freedom ◽  
Active Disturbance Rejection ◽  
Three Degrees Of Freedom

scholarly journals Cyclic Deformation of Microcantilevers Using In-Situ Micromanipulation

2021 ◽  
Author(s):  
A. H. S. Iyer ◽  
M. H. Colliander
Keyword(s):  
Degrees Of Freedom ◽  
Focused Ion Beam ◽  
Ion Beam ◽  
Structural Components ◽  
Cyclic Testing ◽  
Phase Boundaries ◽  
Bulk Specimen ◽  
Arbitrary Position ◽  
Three Degrees Of Freedom

Abstract Background The trend in miniaturisation of structural components and continuous development of more advanced crystal plasticity models point towards the need for understanding cyclic properties of engineering materials at the microscale. Though the technology of focused ion beam milling enables the preparation of micron-sized samples for mechanical testing using nanoindenters, much of the focus has been on monotonic testing since the limited 1D motion of nanoindenters imposes restrictions on both sample preparation and cyclic testing. Objective/Methods In this work, we present an approach for cyclic microcantilever bending using a micromanipulator setup having three degrees of freedom, thereby offering more flexibility. Results The method has been demonstrated and validated by cyclic bending of Alloy 718plus microcantilevers prepared on a bulk specimen. The experiments reveal that this method is reliable and produces results that are comparable to a nanoindenter setup. Conclusions Due to the flexibility of the method, it offers straightforward testing of cantilevers manufactured at arbitrary position on bulk samples with fully reversed plastic deformation. Specific microstructural features, e.g., selected orientations, grain boundaries, phase boundaries etc., can therefore be easily targeted.

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