Comparative Analysis of Control Methods for Walking Robots with Nonlinear Sensors

2018 ◽  
Author(s):  
Sergei Savin
Keyword(s):  
Comparative Analysis ◽  
Walking Robots ◽  
Control Methods ◽  
Nonlinear Sensors

COMPARATIVE ANALYSIS OF DIFFERENT ROTARY CONTROL SYSTEMS

2020 ◽  
Vol 6 ◽  
pp. 86-93
Author(s):  
R.K. ZARETSKIY
Keyword(s):  
Comparative Analysis ◽  
Control Systems ◽  
Friction Torque ◽  
Rotor System ◽  
Control Methods ◽  
Fluid Friction ◽  
Q Learning ◽  
Stiffness Coefficients ◽  
Relative Eccentricity ◽  
Bearing Stiffness

This article provides a comparative analysis of various control systems for a rotor system on fluid friction bearings. The control was carried out on the basis of the criterion of the minimum friction moment, the controlled parameter was the bearing stiffness coefficients. The following control methods were compared in terms of friction torque and rotor eccentricity: STATIC, PID, DQN, DDPG, Q-Learning and SARSA. The control systems were guided by the following observed parameters: the values of coordinates and velocities along the x, y axes, as well as the frictional moment and relative eccentricity.

Motor Control using Discontinuous Signals

1970 ◽  
Vol 108 (2) ◽  
pp. 15-18 ◽  
Author(s):  
C. Aghion ◽  
O. Ursaru
Keyword(s):  
Motor Control ◽  
Comparative Analysis ◽  
Alternating Current ◽  
Control Methods ◽  
Control Techniques ◽  
Reference Signals

This paper makes a comparative analysis of the behaviour of an alternating current motor with different control methods. Two control techniques were used, based on discontinuous reference signals, namely DPWM-S4 and DPWM-S5. Ill. 9, bibl. 7, tabl. 1 (in English; abstracts in English and Lithuanian).http://dx.doi.org/10.5755/j01.eee.108.2.135

Control Research on Microgrid Systems Based on Distributed Generation

2011 ◽  
Vol 58-60 ◽  
pp. 417-422
Author(s):  
Yan Bo Che ◽  
Jian Chen
Keyword(s):  
Comparative Analysis ◽  
Distributed Generation ◽  
Engineering Practice ◽  
Control Methods ◽  
Related Research ◽  
Composition And Structure ◽  
Control Scheme ◽  
Control Research

In this paper, the composition and structure of typical microgrid system are described briefly first. Different control methods of microgrid system and their advantages and shortcomings are analyzed in detail. The comparative analysis of different control methods is carried out. Finally, a practical control scheme of an example is proposed which provides a reference for related research and engineering practice.

Control Methods for Bipedal Walking Robots With Integrated Elastic Elements

2019 ◽  
pp. 365-385
Author(s):  
Sergei Savin
Keyword(s):  
Control System ◽  
Controller Design ◽  
Feedback Controller ◽  
Bipedal Walking ◽  
Walking Robots ◽  
Control Methods ◽  
Control Laws ◽  
Motor Torque ◽  
Inertial Parameters ◽  
Elastic Elements

In this chapter, the problem of controlling bipedal walking robots with integrated elastic elements is considered. A survey of the existing control methods developed for walking robots is given, and their applicability to the task of controlling the robots with elastic elements is analyzed. The focus of the chapter lies with the feedback controller design. The chapter studies the influence that the elastic elements modelled as a spring-damper system have on the behavior of the control system. The influence of the spring-damper parameters and the inertial parameters of the actuator gear box and the motor shaft on the generated control laws and the resulting peak torques are discussed. The changes in these effects associated with motor torque saturation and sensors nonlinearities are studied. It is shown that the introduction of torque saturation changes the way the elastic drive parameters affect the resulting behavior of the control system. The ways to use obtained results in practice are discussed.

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