Geometric Control of Quadrotor Attitude in Wind With Flow Sensing and Thrust Constraints

2017 ◽  
Author(s):  
William Craig ◽  
Derek A. Paley
Keyword(s):  
Exponential Stability ◽  
Global Exponential Stability ◽  
Initial Response ◽  
Geometric Control ◽  
Effective Control ◽  
System Control ◽  
Numerical Examples ◽  
Flow Sensing ◽  
Dynamics And Control ◽  
And Control

Quadrotor vehicles show great potential over a range of tasks, but effective control in windy environments continues to be a challenge. This paper develops a thrust-saturated controller on the Lie group SO (3) that uses flow sensing in order to reduce the effect of gusts on the vehicle. Designing the controller on SO (3) establishes almost-global exponential stability, and avoids the pitfalls of representing rigid-body kinematics using Euler angles. We prove that exponential stability is retained in the presence of thrust saturation. Aerodynamics are incorporated into the dynamics and control through a model of the blade-flapping phenomena experienced by rotorcraft. Numerical examples show that the system control remains effective despite thrust saturation, and that flow sensing improves both the initial response and steady-state error of the system in wind.

scholarly journals Assessing the Dynamics and Control of Droplet- and Aerosol-Transmitted Influenza Using an Indoor Positioning System

2017 ◽  
Author(s):  
Timo Smieszek ◽  
Gianrocco Lazzari ◽  
Marcel Salathé
Keyword(s):  
Wireless Sensors ◽  
Public Spaces ◽  
Mitigation Strategies ◽  
Effective Control ◽  
Positioning System ◽  
Close Physical Proximity ◽  
Close Proximity ◽  
Dynamics And Control ◽  
And Control ◽  
Indoor Positioning System

ABSTRACTThere is increasing evidence that aerosol transmission is a major contributor to the spread of influenza. Despite this, virtually all studies assessing the dynamics and control of influenza assume that it is transmitted solely through direct contact and large droplets, requiring close physical proximity. Here, we use wireless sensors to measure simultaneously both the location and close proximity contacts in the population of a US high school. This dataset, highly resolved in space and time, allows us to model both droplet and aerosol transmission either in isolation or in combination. In particular, it allows us to computationally assess the effectiveness of overlooked mitigation strategies such as improved ventilation that are available in the case of aerosol transmission. While the effects of the type of transmission on disease outbreak dynamics appear to be weak, we find that good ventilation could be as effective in mitigating outbreaks as vaccinating the majority of the population. In simulations using empirical transmission levels observed in households, we find that bringing ventilation to recommended levels has the same mitigating effect as a vaccination coverage of 50% to 60%. Our results therefore suggest that improvements of ventilation in public spaces could be an important and easy-to-implement strategy supplementing vaccination efforts for effective control of influenza spread.

Geometric Spectral Algorithms for the Simulation of Rigid Bodies

2019 ◽  
Vol 14 (12) ◽  
Author(s):  
Yiqun Li ◽  
Razikhova Meiramgul ◽  
Jiankui Chen ◽  
Zhouping Yin
Keyword(s):  
Lie Group ◽  
Spectral Methods ◽  
Rigid Bodies ◽  
Geometric Control ◽  
Homogeneous Manifolds ◽  
Practical Algorithms ◽  
Group Methods ◽  
Dynamics And Control ◽  
And Control ◽  
Geometric Dynamics

Abstract Lie group methods are an excellent choice for simulating differential equations evolving on Lie groups or homogeneous manifolds, as they can preserve the underlying geometric structures of the corresponding manifolds. Spectral methods are a popular choice for constructing numerical approximations for smooth problems, as they can converge geometrically. In this paper, we focus on developing numerical methods for the simulation of geometric dynamics and control of rigid body systems. Practical algorithms, which combine the advantages of Lie group methods and spectral methods, are given and they are tested both in a geometric dynamic system and a geometric control system.

scholarly journals Switching Signal Design for Global Exponential Stability of Uncertain Switched Neutral Systems

2009 ◽  
Vol 2009 ◽  
pp. 1-17 ◽  
Author(s):  
Ker-Wei Yu
Keyword(s):  
Exponential Stability ◽  
Global Exponential Stability ◽  
Signal Design ◽  
Neutral Systems ◽  
Numerical Examples ◽  
Switching Signal ◽  
The Stability ◽  
Switched Neutral Systems ◽  
Delay Dependent ◽  
Stability Results

The switching signal design for global exponential stability of switched neutral systems is investigated in this paper. LMI-based delay-dependent and delay-independent criteria are proposed to guarantee the global stability via the constructed switching signal. Razumikhin-like approach is used to find the stability results. Finally, some numerical examples are illustrated to show the main results.

From Research to Didactics: The Course of Dynamics and Control of Fluid Machines for Automation Engineering Students

2008 ◽  
Author(s):  
M. Venturini ◽  
M. Morini
Keyword(s):  
Dynamic Behavior ◽  
Engineering Students ◽  
Student Evaluation ◽  
Operating Conditions ◽  
Student Feedback ◽  
System Control ◽  
Control Logic ◽  
Dynamics And Control ◽  
The University ◽  
And Control

The paper deals with the course “Dynamics and Control of Fluid Machines”, which has been held at the Faculty of Engineering of the University of Ferrara (Italy) since the academic year 2002/2003 for the Second-Level Degree Course in Computer Sciences and Automation Engineering. The aim of the course is the study of fluid machines, by combining base knowledge with physical-mathematical analysis of the unsteady behavior and of off-design operating conditions. The first characteristic aspect of the course is the study of the dynamic behavior of fluid machines. The second relevant aspect is the analysis of system control. In this paper, course characteristics are presented and discussed. In particular, as a part of the final examination, students are asked to develop an individual project, whose results are also reported in this paper. The project consists of the simulation of the dynamic behavior of an industrial system for compressed air production by means of a multistage centrifugal compressor. Students are required to properly design the controller and to discuss the adopted control logic. Student feedback is evaluated by means of a survey conducted to evaluate the quality of the didactic activity. The analysis of student feedback reveals that student evaluation towards the course proves higher than the “average” evaluation for the didactic activity held at the University of Ferrara, at the Faculty of Engineering or within the same Degree Course.

scholarly journals Robotic Fish

2016 ◽  
Vol 138 (03) ◽  
pp. S2-S5 ◽  
Author(s):  
Feitian Zhang ◽  
Francis D. Lagor ◽  
Hong Lei ◽  
Xiaobo Tan ◽  
Derek A. Paley
Keyword(s):  
Robotic Fish ◽  
Flexible Robot ◽  
Feedback Controls ◽  
Underwater Robots ◽  
Loop Control ◽  
Distributed Sensor ◽  
Flow Sensing ◽  
Ongoing Work ◽  
Dynamics And Control ◽  
And Control

This article reviews different research and development work on robotic fishes. The Collective Dynamics and Control Laboratory at the University of Maryland has constructed two robotic fish to study bio-inspired flow sensing and control of underwater vehicles. Bio-inspired flow sensing and flow-relative control using distributed sensor measurements have been described and demonstrated with two underwater robots. Prototypes of the robotic fish have been designed for experiments to include a rigid airfoil-shaped robot and a flexible, self-propelled robot. The closed-loop control of the flexible robot comprised feedforward and feedback controls. The feedforward term accelerates the convergence of the tracking control, and the feedback term improves the tracking performance by reducing the steady-state error. Rheotaxis and speed-control experiments have demonstrated the effectiveness of the flow sensing and control algorithms. In ongoing work, teams are investigating a novel actuation approach using an internal reaction wheel for flexible fish propulsion.

A Cellular Automata Model for Dynamics and Control of Cardiac Arrhythmias

2020 ◽  
Author(s):  
Danny Gallenberger ◽  
Min Xiong ◽  
Tony Z. Zhuang ◽  
Kai Sun ◽  
Elena G. Tolkacheva ◽  
...  
Keyword(s):  
Cellular Automata ◽  
Cardiac Arrhythmias ◽  
Control Method ◽  
Sudden Cardiac Arrest ◽  
Significant Proportion ◽  
The United States ◽  
Effective Control ◽  
Dynamics And Control ◽  
Ca Model ◽  
And Control

Abstract As a leading cause of death in 325,000 adults per year in the United States, a significant proportion of sudden cardiac arrest (SCA) result from arrhythmias. To better understand the onset of arrhythmias and its potential treatment with more rapid and effective control approaches, a two-dimensional 50 × 50 cellular automata (CA) model is used in this study to illustrate the propagation of electrical waves across its tissue, and a constant diastolic interval (DI) control mechanism is adopted to help stabilize and prevent cardiac arrhythmias. Simulations of various scenarios including normal conduction and spiral waves in the presence of scar, normal conduction and alternans under control conditions are shown. The results validate that the CA model and constant DI control method are very efficient and effective in the study of dynamics and control of cardiac arrhythmias.

scholarly journals Transient Thermal Systems: Dynamics and Control

2014 ◽  
Vol 136 (03) ◽  
pp. S4-S12
Author(s):  
Andrew Alleyne ◽  
Neera Jain
Keyword(s):  
Energy Conversion ◽  
Leadership Role ◽  
Effective Control ◽  
Systems Dynamics ◽  
Thermal Systems ◽  
Energy Domain ◽  
Dynamics And Control ◽  
Transient Thermal ◽  
And Control ◽  
Accuracy Speed

This is a study focused on the criticality of thermal systems in almost every domain of energy conversion. Thermal systems are critically important to nearly all domains of energy conversion, and controls are vital to extracting maximal efficiency from the overall system. Understanding the dynamics of transient thermal systems is the first step towards effective control design. While a great deal of understanding of steady-state performance of an overall system already exists, the combined performance of coupled and interconnected systems during transients is still not well described or understood. This becomes more important with increased system complexity or increased transient relevance. Continued improvement in control-oriented modeling will be very valuable in terms of accuracy, speed, etc. With energy as a crucial theme for a sustainable future, it is clear that the Mechanical Engineering community must play a key leadership role in achieving this potential, since the thermal energy domain is one with which we are most familiar.

scholarly journals Research in offshore transfer cargo operations; challenges, developments, and new frontiers

2012 ◽  
Vol 5 (10) ◽  
pp. 9
Author(s):  
Max Suell Dutra ◽  
Ivanovich Lache ◽  
Katrin Ellermann ◽  
Ricardo Ramírez Heredia
Keyword(s):  
Degrees Of Freedom ◽  
New Technologies ◽  
Fuzzy Controller ◽  
Nonlinear Behavior ◽  
Effective Control ◽  
Test Results ◽  
Economic Sectors ◽  
Point Of Interest ◽  
Dynamics And Control ◽  
And Control

Currently, offshore operations are considered activities with high impact on the economy, which standsin direct relation to the products of great importance and value for diverse economic sectors. Thus, itbecomes necessary to implement new technologies that make the manipulation of these products fasterand easier. In this work, the authors introduce the problem in offshore cargo transfer operations. Thisproblem involves different kinds of areas: logistics, dynamics, and control are some of them. The authorspresent an approach for the last two. In the dynamic problem is presented a study on the dynamics of asuspended load connected to a crane via a mechanism with two prismatic degrees of freedom. The studiesshow the complex large-amplitude motion of the load given the visibly nonlinear behavior of the ship.Therefore, the development of a fuzzy controller was necessary to decrease oscillations and position theload in one definitive point of interest. The work presents the test results, demonstrating that this typeof manipulator in combination with an effective control strategy allows for the reduction of oscillationsin offshore activities.

PROJECT ON ELECTRONIC STEERING SYSYTEM

2018 ◽  
Vol 4 (5) ◽  
pp. 7
Author(s):  
Shivam Dwivedi ◽  
Prof. Vikas Gupta
Keyword(s):  
Steering System ◽  
Essential Elements ◽  
Variable Pressure ◽  
Passenger Cars ◽  
Control Techniques ◽  
Steering Mechanism ◽  
Dynamics And Control ◽  
Active Research ◽  
Electronic Steering ◽  
And Control

As the four-wheel steering (4WS) system has great potentials, many researchers' attention was attracted to this technique and active research was made. As a result, passenger cars equipped with 4WS systems were put on the market a few years ago. This report tries to identify the essential elements of the 4WS technology in terms of vehicle dynamics and control techniques. Based on the findings of this investigation, the report gives a mechanism of electronically controlling the steering system depending on the variable pressure applied on it. This enhances the controlling and smoothens the operation of steering mechanism.

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