scholarly journals Theoretical improvements in the stability analysis of a new class of model-free visual servoing methods

2002 ◽  
Vol 18 (2) ◽  
pp. 176-186 ◽  
Author(s):  
E. Malis ◽  
F. Chaumette
Keyword(s):  
Stability Analysis ◽  
Visual Servoing ◽  
New Class ◽  
Model Free ◽  
The Stability

Robust Visual PID Control of Planar Parallel Robots Under Constant Disturbances

2013 ◽  
Author(s):  
Miguel A. Trujano ◽  
Ruben Garrido
Keyword(s):  
Stability Analysis ◽  
Pid Control ◽  
Visual Servoing ◽  
Parallel Robot ◽  
Parallel Robots ◽  
End Effector ◽  
Pid Algorithm ◽  
Control Scheme ◽  
The Stability ◽  
Invariance Theorem

This work presents an image-based visual servoing scheme applied to planar parallel robots. A PID algorithm regulates the robot end-effector position, and rejects constant disturbances perturbing the active robot joints. Instead using the La Salle invariance theorem, the stability analysis provided here relies on a strict Lyapunov function. Experiments on a redundant planar parallel robot validate the proposed control scheme.

Stability Analysis of the Nanjung Water Diversion Twin Tunnels based on Convergence Measurement

2019 ◽  
Vol 1 (1) ◽  
pp. 49-60
Author(s):  
Simon Heru Prassetyo ◽  
Ganda Marihot Simangunsong ◽  
Ridho Kresna Wattimena ◽  
Made Astawa Rai ◽  
Irwandy Arif ◽  
...  
Keyword(s):  
Stability Analysis ◽  
Convergence Rate ◽  
Critical Strain ◽  
Convergence Rates ◽  
Strain Analysis ◽  
Water Diversion ◽  
Tunnel Face ◽  
Tunnel Stability ◽  
The Stability ◽  
Twin Tunnels

This paper focuses on the stability analysis of the Nanjung Water Diversion Twin Tunnels using convergence measurement. The Nanjung Tunnel is horseshoe-shaped in cross-section, 10.2 m x 9.2 m in dimension, and 230 m in length. The location of the tunnel is in Curug Jompong, Margaasih Subdistrict, Bandung. Convergence monitoring was done for 144 days between February 18 and July 11, 2019. The results of the convergence measurement were recorded and plotted into the curves of convergence vs. day and convergence vs. distance from tunnel face. From these plots, the continuity of the convergence and the convergence rate in the tunnel roof and wall were then analyzed. The convergence rates from each tunnel were also compared to empirical values to determine the level of tunnel stability. In general, the trend of convergence rate shows that the Nanjung Tunnel is stable without any indication of instability. Although there was a spike in the convergence rate at several STA in the measured span, that spike was not replicated by the convergence rate in the other measured spans and it was not continuous. The stability of the Nanjung Tunnel is also confirmed from the critical strain analysis, in which most of the STA measured have strain magnitudes located below the critical strain line and are less than 1%.

Stability of bounded rapid shear flows of a granular material

1996 ◽  
Vol 308 ◽  
pp. 31-62 ◽  
Author(s):  
Chi-Hwa Wang ◽  
R. Jackson ◽  
S. Sundaresan
Keyword(s):  
Growth Rate ◽  
Stability Analysis ◽  
Granular Material ◽  
Bulk Density ◽  
Particulate Material ◽  
Dominant Mode ◽  
Marginal Stability ◽  
Sheared Layer ◽  
The Stability ◽  
Unusual Type

This paper presents a linear stability analysis of a rapidly sheared layer of granular material confined between two parallel solid plates. The form of the steady base-state solution depends on the nature of the interaction between the material and the bounding plates and three cases are considered, in which the boundaries act as sources or sinks of pseudo-thermal energy, or merely confine the material while leaving the velocity profile linear, as in unbounded shear. The stability analysis is conventional, though complicated, and the results are similar in all cases. For given physical properties of the particles and the bounding plates it is found that the condition of marginal stability depends only on the separation between the plates and the mean bulk density of the particulate material contained between them. The system is stable when the thickness of the layer is sufficiently small, but if the thickness is increased it becomes unstable, and initially the fastest growing mode is analogous to modes of the corresponding unbounded problem. However, with a further increase in thickness a new mode becomes dominant and this is of an unusual type, with no analogue in the case of unbounded shear. The growth rate of this mode passes through a maximum at a certain value of the thickness of the sheared layer, at which point it grows much faster than any mode that could be shared with the unbounded problem. The growth rate of the dominant mode also depends on the bulk density of the material, and is greatest when this is neither very large nor very small.

A new control approach for a class of linear switched systems with time-varying delay

2021 ◽  
pp. 014233122199272
Author(s):  
Abbas Zabihi Zonouz ◽  
Mohammad Ali Badamchizadeh ◽  
Amir Rikhtehgar Ghiasi
Keyword(s):  
Stability Analysis ◽  
Linear Matrix Inequalities ◽  
Linear Matrix ◽  
Switching Systems ◽  
Time Varying ◽  
Matrix Inequalities ◽  
Time Varying Delay ◽  
Linear Switching Systems ◽  
The Stability ◽  
Varying Delay

In this paper, a new method for designing controller for linear switching systems with varying delay is presented concerning the Hurwitz-Convex combination. For stability analysis the Lyapunov-Krasovskii function is used. The stability analysis results are given based on the linear matrix inequalities (LMIs), and it is possible to obtain upper delay bound that guarantees the stability of system by solving the linear matrix inequalities. Compared with the other methods, the proposed controller can be used to get a less conservative criterion and ensures the stability of linear switching systems with time-varying delay in which delay has way larger upper bound in comparison with the delay bounds that are considered in other methods. Numerical examples are given to demonstrate the effectiveness of proposed method.

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