Swing Up Control of the Pendubot Through Energy Management of the Underactuated Link

2007 ◽  
Author(s):  
Thamer Albahkali ◽  
Ranjan Mukherjee ◽  
Tuhin Das
Keyword(s):  
Energy Management ◽  
Equilibrium Configuration ◽  
Underactuated System ◽  
Control Law ◽  
Region Of Attraction ◽  
Controllable System ◽  
Local Asymptotic Stability ◽  
Simulation Results ◽  
Step Algorithm ◽  
Real Challenge

The control problem of the pendubot refers to the task of stabilizing its equilibrium configuration with the highest potential energy. Linearization of the dynamics of the pendubot about this equilibrium results in a completely controllable system and allows a linear controller to be designed for local asymptotic stability. Therefore, the real challenge is to design a control law for the underactuated system that will swing up both the links and brings the configuration variables of the system within the region of attraction of the equilibrium. This paper provides a method for swing-up control based on a series of start and stop maneuvers of the first link about its vertically upright configuration. The start and stop maneuvers are designed such that each maneuver results in a net gain in the energy of the second link. This results in swinging up of the second link and the pendubot configuration reaching the region of attraction of the desired equilibrium. A three step algorithm is provided for swing up control followed by stabilization. Simulation results are presented to demonstrate the efficacy of the approach.

An Optimal Energy Management System for Electric Vehicles Hybridized With Supercapacitor

2015 ◽  
Author(s):  
Parisa Golchoubian ◽  
Nasser L. Azad
Keyword(s):  
Energy Management ◽  
Electric Vehicles ◽  
Management System ◽  
Control Strategies ◽  
Control Law ◽  
Energy Management System ◽  
Vehicle Performance ◽  
Optimal Energy Management ◽  
Driving Range ◽  
Simulation Results

In this study, the potential merits of integrating a supercapacitor into an electric vehicle (EV), namely a Toyota RAV4 EV, is investigated. In particular, the impacts of energy management system (EMS) with a buffer scheme and a dynamic programming (DP)-based control law on the vehicle performance characteristics are examined and compared to the vehicle with no supercapacitor in use. While the simulation results show improvements in the vehicle’s driving range and heat loss for the both considered EMSs, the DP-based controller significantly outperforms the buffer policy. The investigations also demonstrate promising results regarding the use of supercapacitors in EVs, intriguing interest for further studies on online control strategies for these systems.

scholarly journals Reorientation of Asymmetric Rigid Body Using Two Controls

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Donghoon Kim ◽  
James D. Turner ◽  
Henzeh Leeghim
Keyword(s):  
Numerical Simulation ◽  
Underactuated System ◽  
Control Law ◽  
System Control ◽  
Control Torque ◽  
Start Time ◽  
Control Laws ◽  
Switch Time ◽  
Simulation Results ◽  
Asymmetric Rigid Body

Most spacecrafts are designed to be maneuvered to achieve pointing goals. This is accomplished usually by designing a three-axis control system, which can achieve arbitrary maneuvers, where the goal is to repoint the spacecraft and match a desired angular velocity at the end of the maneuver. New control laws are required, however, if one of the three-axis control actuators fails. This paper explores suboptimal maneuver strategies when only two control torque inputs are available. To handle this underactuated system control problem, the three-axis maneuver strategy is transformed to two successive independent submaneuver strategies. The first maneuver is conducted on one of the available torque axes. Next, the second maneuver is conducted on the torque available plane using two available control torques. However, the resulting control law is more complicated than the general three-axis control law. This is because an optimal switch time needs to be found for determining the end time for the single-axis maneuver or the start time for the second maneuver. Numerical simulation results are presented that compare optimal maneuver strategies for both nominal and failed actuator cases.

A Design Method of LS-SVM Based Stable Adaptive Controller for a Class of Nonlinear Systems

2011 ◽  
Vol 48-49 ◽  
pp. 17-20
Author(s):  
Chun Li Xie ◽  
Tao Zhang ◽  
Dan Dan Zhao ◽  
Cheng Shao
Keyword(s):  
Nonlinear Systems ◽  
Design Method ◽  
Nonlinear Function ◽  
Lyapunov Stability Theory ◽  
Adaptive Controller ◽  
Control Law ◽  
Continuous Systems ◽  
Control Schemes ◽  
Closed Systems ◽  
Simulation Results

A design method of LS-SVM based stable adaptive controller is proposed for a class of nonlinear continuous systems with unknown nonlinear function in this paper. Due to the fact that the control law is derived based on the Lyapunov stability theory, the scheme can not only solve the tracking problem of this class of nonlinear systems, but also it can guarantee the asymptotic stability of the closed systems, which is superior to many LS-SVM based control schemes. The effectiveness of the proposed scheme is demonstrated by simulation results.

scholarly journals Modeling and Simulation of Energy Management Hybrid Sources System composed of Solar-PV and Battery

2016 ◽  
Vol 1 (1) ◽  
pp. 12
Author(s):  
Madiha Maamir ◽  
Achour Betka ◽  
Hania Aboub
Keyword(s):  
Energy Management ◽  
Solar Pv ◽  
Modeling And Control ◽  
Control Techniques ◽  
Simulation Results ◽  
Power Manager ◽  
And Control ◽  
Different Sources ◽  
Pv Generator ◽  
Auxiliary Source

This paper describes the  modeling and control of a hybrid source consisting of PV generator (as  main  source)  along  with  a  battery (as  an  auxiliary source)  and a dc-load are connected through power converters and a dc-link. The main objective of this paper is to design a power manager to control effectively the power of the different sources. To test the effectiveness of the different control techniques involved, simulation results are plotted and commented.

scholarly journals Neuro-Fuzzy System for Energy Management of Conventional Autonomous Vehicles

Energies ◽  
2020 ◽  
Vol 13 (7) ◽  
pp. 1745 ◽  
Author(s):  
Duong Phan ◽  
Alireza Bab-Hadiashar ◽  
Reza Hoseinnezhad ◽  
Reza N. Jazar ◽  
Abhijit Date ◽  
...  
Keyword(s):  
Fuel Consumption ◽  
Energy Management ◽  
Autonomous Vehicles ◽  
Pid Controller ◽  
Autonomous Vehicle ◽  
Subtractive Clustering ◽  
Energy Management System ◽  
Power Demand ◽  
Neuro Fuzzy ◽  
Simulation Results

This paper investigates the energy management system (EMS) of a conventional autonomous vehicle, with a view to enhance its powertrain efficiency. The designed EMS includes two neuro-fuzzy (NF) systems to produce the optimal torque of the engine. This control system uses the dynamic road power demand of the autonomous vehicle as an input, and a PID controller to regulate the air mass flow rate into the cylinder by changing the throttle angle. Two NF systems were trained by the Grid Partition (GP) and the Subtractive Clustering (SC) methods. The simulation results show that the proposed EMS can reduce the fuel consumption of the vehicle by 6.69 and 6.35 l/100 km using the SC and the GP, respectively. In addition, the EMS based on NF trained by GP and NF trained by SC can reduce the fuel consumption of the vehicle by 11.8% and 7.08% compared with the case without the controller, respectively.

Integrated Aircraft Modeling Research for Accurate Flight Control System Design

2013 ◽  
Vol 791-793 ◽  
pp. 658-662
Author(s):  
Chao Zhang ◽  
Yi Nan Liu ◽  
Jian Hui Xu
Keyword(s):  
Control System ◽  
System Design ◽  
Flight Control ◽  
Time Delays ◽  
Flight Dynamics ◽  
Control System Design ◽  
Control Law ◽  
Flight Control System ◽  
Aircraft Model ◽  
Simulation Results

In order to realize accurate flight control system design and simulation, an integrated scheme of aircraft model which consists of flight dynamics, fly-by-wire (FBW) platform and flight environment is proposed. Flight environment includes gravity, wind, and atmosphere. And the actuator and sensors such as gyroscope and accelerometer models are considered in the FBW platform. All parts of the integrated model are closely connected and interacted with each other. Simulation results confirm the effectiveness of the integrated aircraft model and also indicate that the (Flight Control Law) FCL must be designed with robustness to sensor noise and time delays with the FBW platform in addition to the required robustness to model uncertainty in flight dynamics.

An update algorithm design using moving Region of Attraction for SDRE based control law

2019 ◽  
Vol 356 (15) ◽  
pp. 8388-8413 ◽  
Author(s):  
Engin H. Copur ◽  
Ahmet C. Arican ◽  
Sinan Ozcan ◽  
Metin U. Salamci
Keyword(s):  
Algorithm Design ◽  
Control Law ◽  
Region Of Attraction

Energy Management in a Multi-Source Energy Harvesting IoT System

2020 ◽  
Vol 13 (2) ◽  
pp. 42-59
Author(s):  
Ritu Garg ◽  
Neha Garg
Keyword(s):  
Energy Harvesting ◽  
Energy Management ◽  
Simulation Analysis ◽  
Scheduling Algorithm ◽  
Time Frame ◽  
Neutral System ◽  
Harvesting Systems ◽  
Energy Harvesting System ◽  
Harvesting Techniques ◽  
Simulation Results

To guarantee the uninterrupted operation of an IoT node, IoT nodes are installed with energy harvesting techniques to prolong their lifetime and recharge their batteries. Mostly energy harvesting systems collect energy from sunlight and wind. However, the energy harvested from the sunlight is non-continuous and energy harvested from the wind is insufficient for continuously powering an IoT node. Thus, to resolve this problem, authors proposed an energy harvesting system namely SWEH which harvests energy from solar light and wind. In this article, authors proposed a scheduling algorithm to balance the energy produced by SWEH and the energy consumption of an IoT node that results in the energy neutral system. Results from simulation analysis clearly manifest that the proposed SWEH system extracts more energy as compared to energy produced by a single solar panel or wind turbine. With the help of simulation results, authors also show that the proposed algorithm leaves the system in energy neutral state at the end of particular time frame.

Iterative Learning Impedance Control in Gait Rehabilitation Robot

2014 ◽  
Vol 494-495 ◽  
pp. 1084-1087
Author(s):  
Fu Cheng Cao ◽  
Hai Xin Sun ◽  
Li Rong Wang
Keyword(s):  
Iterative Learning Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Impedance Control ◽  
Iterative Learning ◽  
Gait Rehabilitation ◽  
Control Law ◽  
Rehabilitation Robot ◽  
Simulation Results ◽  
Impedance Parameters

An iterative learning impedance control algorithm is presented to control a gait rehabilitation robot. According to the circumstances of the patient, the appropriate rehabilitation target impedance parameters are set. With the adoption of iterative learning control law, the impedance error in the closed loop is guaranteed to converge to zero and the iterative trajectories follow the desired trajectories over the entire operation interval. The effectiveness of the proposed method is shown through numerical simulation results.

scholarly journals ESTIMATION OF THE REGION OF ATTRACTION FOR A BOOST DC-AC CONVERTER CONTROL LAW

2007 ◽  
Vol 40 (12) ◽  
pp. 1137-1142 ◽  
Author(s):  
Carolina Albea ◽  
Francisco Gordillo
Keyword(s):  
Control Law ◽  
Region Of Attraction
Sign in / Sign up

Export Citation Format

Share Document