Three-Dimensional Curve Tracking for Particles Using Gyroscopic Control

2017 ◽  
Vol 139 (12) ◽  
Author(s):  
Chuanfeng Wang
Keyword(s):  
Tracking Control ◽  
Three Dimensional ◽  
Smooth Curve ◽  
Autonomous Agent ◽  
Control Law ◽  
Steering Control ◽  
3D Space ◽  
Moving Direction ◽  
Tangent Direction ◽  
Curve Tracking

Curve-tracking control is challenging and fundamental in many robotic applications for an autonomous agent to follow a desired path. In this paper, we consider a particle, representing a fully actuated autonomous robot, moving at unit speed under steering control in the three-dimensional (3D) space. We develop a feedback control law that enables the particle to track any smooth curve in the 3D space. Representing the 3D curve in the natural Frenet frame, we construct the control law under which the moving direction of the particle will be aligned with the tangent direction of the desired curve and the distance between the particle and the desired curve will converge to zero. We demonstrate the effectiveness of the proposed 3D curve-tracking control law in simulations.

scholarly journals Beacon-referenced pursuit for collective motions in three dimensions

2020 ◽  
Vol 476 (2234) ◽  
pp. 20190585
Author(s):  
Kevin S. Galloway ◽  
Biswadip Dey
Keyword(s):  
Autonomous Agents ◽  
Three Dimensional ◽  
Three Dimensions ◽  
Control Law ◽  
Steering Control ◽  
Loop Dynamics ◽  
Collective Motions ◽  
Real World Applications ◽  
The Common ◽  
Axis Passing

Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents manoeuvring in the vicinity of multiple moving entities (e.g. other autonomous agents) and stationary entities (e.g. fixed beacons or points of reference) in a three-dimensional environment. The proposed control law, which can be perceived as a modification of the three-dimensional constant bearing (CB) pursuit law, provides a means to allocate simultaneous attention to multiple entities. We investigate the behaviour of the closed-loop dynamics for a system with one agent referencing two beacons, as well as a two-agent mutual pursuit system wherein each agent employs the beacon-referenced CB pursuit law with regards to the other agent and a stationary beacon. Under certain assumptions on the associated control parameters, we demonstrate that this problem admits circling equilibria with agents moving on circular orbits with a common radius, in planes perpendicular to a common axis passing through the beacons. As the common radius and distances from the beacon are determined by the choice of parameters in the pursuit law, this approach provides a means to engineer desired formations in a three-dimensional setting.

Path-Tracking Control of Stochastic Quadrotor Aircraft in Three-Dimensional Space

2015 ◽  
Vol 137 (10) ◽  
Author(s):  
K. D. Do
Keyword(s):  
Tracking Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Path Tracking ◽  
Effective Control ◽  
Practical Implementation ◽  
Unit Quaternion ◽  
3D Space ◽  
Quadrotor Aircraft ◽  
Deterministic Components

Despite the fact that environmental loads (forces and moments) induced by wind on quadrotor vertical take-off and landing (VTOL) aircraft consist of both deterministic and stochastic components, all existing works on controlling the aircraft either ignore these loads or treat them as deterministic. This ignorance or treatment deteriorates the control performance in a practical implementation. This paper presents a constructive design of controllers for a quadrotor aircraft to track a reference path in three-dimensional (3D) space under both deterministic and stochastic disturbances. A combination of Euler angles and unit-quaternion for the attitude representation of the aircraft is used to result in an effective control design, and to achieve path-tracking control results. Weak and strong nonlinear Lyapunov functions are introduced to overcome difficulties caused by underactuation and Hessian terms induced by stochastic differentiation rule. To overcome the inherent underactuation of the aircraft, the roll and pitch angles of the aircraft are considered as immediate controls. Potential projection functions are introduced to design estimates of the deterministic components and covariances of the stochastic components. Simulations illustrate the results.

scholarly journals Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom

Micromachines ◽  
2021 ◽  
Vol 12 (4) ◽  
pp. 444
Author(s):  
Guoning Si ◽  
Liangying Sun ◽  
Zhuo Zhang ◽  
Xuping Zhang
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Three Dimensional ◽  
Polyimide Film ◽  
Zebrafish Embryos ◽  
Multiple Degrees Of Freedom ◽  
Electrothermal Actuator ◽  
3D Space ◽  
Pick And Place

This paper presents the design, fabrication, and testing of a novel three-dimensional (3D) three-fingered electrothermal microgripper with multiple degrees of freedom (multi DOFs). Each finger of the microgripper is composed of a V-shaped electrothermal actuator providing one DOF, and a 3D U-shaped electrothermal actuator offering two DOFs in the plane perpendicular to the movement of the V-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with the polyimide film. The durability of the polyimide film is tested under different voltages. The static and dynamic properties of the finger are also tested. Experiments show that not only can the microgripper pick and place microobjects, such as micro balls and even highly deformable zebrafish embryos, but can also rotate them in 3D space.

A biomimetic 3D airflow sensor made of an array of two piezoelectric metal-core fibers

Sensor Review ◽  
2017 ◽  
Vol 37 (3) ◽  
pp. 312-321 ◽  
Author(s):  
Yixiang Bian ◽  
Can He ◽  
Kaixuan Sun ◽  
Longchao Dai ◽  
Hui Shen ◽  
...  
Keyword(s):  
Design Methodology ◽  
Spherical Surface ◽  
Three Dimensional ◽  
Three Dimensions ◽  
Piezoceramic Cylinder ◽  
Metal Core ◽  
Content Type ◽  
3D Space ◽  
Highly Sensitive ◽  
Airflow Sensor

Purpose The purpose of this paper is to design and fabricate a three-dimensional (3D) bionic airflow sensing array made of two multi-electrode piezoelectric metal-core fibers (MPMFs), inspired by the structure of a cricket’s highly sensitive airflow receptor (consisting of two cerci). Design/methodology/approach A metal core was positioned at the center of an MPMF and surrounded by a hollow piezoceramic cylinder. Four thin metal films were spray-coated symmetrically on the surface of the fiber that could be used as two pairs of sensor electrodes. Findings In 3D space, four output signals of the two MPMFs arrays can form three “8”-shaped spheres. Similarly, the sensing signals for the same airflow are located on a spherical surface. Originality/value Two MPMF arrays are sufficient to detect the speed and direction of airflow in all three dimensions.

Conditional integrator sliding mode control of an unmanned quadrotor helicopter

2021 ◽  
pp. 095965182110498
Author(s):  
Yohan Díaz-Méndez ◽  
Leandro Diniz de Jesus ◽  
Marcelo Santiago de Sousa ◽  
Sebastião Simões Cunha ◽  
Alexandre Brandão Ramos
Keyword(s):  
Sliding Mode Control ◽  
Transient Response ◽  
Tracking Control ◽  
Position Control ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Law ◽  
Control Problems ◽  
Control Activity ◽  
Mode Control

Sliding mode control (SMC) is a widely used control law for quadrotor regulation and tracking control problems. The purpose of this article is to solve the tracking problem of quadrotors using a relatively novel nonlinear control law based on SMC that makes use of a conditional integrator. It is demonstrated by a motivation example that the proposed control law can improve the transient response and chattering shortcomings of the previous approaches of similar SMC based controllers. The adopted Newton–Euler model of quadrotor dynamics and controller design is treated separately in two subsystems: attitude and position control loops. The stability of the control technique is demonstrated by Lyapunov’s analysis and the effectiveness and performance of the proposed method are compared with a similar integral law, also based on SMC, and validated by tracking control problems using numerical simulations. Simulations were developed in the presence of external disturbances in order to evaluate the controller robustness. The effectiveness of the proposed controller was verified by performance indexes, demonstrating less accumulated tracking errors and control activity and improvement in the transient response and disturbance rejection when compared to a conventional integrator sliding mode controller.

Measurement on Reaction Time of Visual Attention in Depth during Driving

2013 ◽  
Vol 319 ◽  
pp. 343-347
Author(s):  
Ru Ting Xia ◽  
Xiao Yan Zhou
Keyword(s):  
Reaction Time ◽  
Visual Attention ◽  
Measurement System ◽  
Low Vision ◽  
Three Dimensional ◽  
Depth Information ◽  
Attention Shifting ◽  
3D Space ◽  
Traffic Environment ◽  
3D Attention

This research aimed to reveal characteristics of visual attention of low-vision drivers. Near and far stimuli were used by means of a three-dimensional (3D) attention measurement system that simulated traffic environment. We measured the reaction time of subjects while attention shifted in three kinds of imitational peripheral environment illuminance (daylight, twilight and dawn conditions). Subjects were required to judge whether the target presented nearer than fixation point or further than it. The results showed that the peripheral environment illuminance had evident influence on the reaction time of drivers, the reaction time was slow in dawn and twilight conditions than in daylight condition, distribution of attention had the advantage in nearer space than farther space, that is, and the shifts of attention in 3D space had an anisotropy characteristic in depth. The results suggested that (1) visual attention might be operated with both precueing paradigm and stimulus controls included the depth information, (2) an anisotropy characteristic of attention shifting depend on the attention moved distance, and it showed remarkably in dawn condition than in daylight and twilight conditions.

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