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.

OUTPUT FEEDBACK CONTROL OF UNIFIED CHAOTIC SYSTEMS BASED ON FEEDBACK PASSIVITY

2010 ◽  
Vol 20 (05) ◽  
pp. 1519-1525 ◽  
Author(s):  
TEERAWAT SANGPET ◽  
SUWAT KUNTANAPREEDA
Keyword(s):  
Chaos Control ◽  
Chaotic Systems ◽  
Output Feedback Control ◽  
Control Law ◽  
Control Laws ◽  
Unified Chaotic Systems ◽  
System Output ◽  
Simulation Results ◽  
Passivity Based Control ◽  
System States

Recently, the concept of feedback passivity-based control has drawn attention to chaos control. In all existing papers, the implementations of passivity-based control laws require the system states for feedback. In this paper, a passivity-based control law which only requires the knowledge of the system output is proposed. Simulation results are provided to show the effectiveness of the proposed solution.

scholarly journals System Control In Fault And Normal Conditions Case Study - Quanser SRV-02

2015 ◽  
Vol 67 (1) ◽  
pp. 133-138
Author(s):  
Ionut Cristian Resceanu ◽  
Cristina Floriana Resceanu
Keyword(s):  
Fault Tolerance ◽  
Theoretical Analysis ◽  
Control Method ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Control Law ◽  
System Control ◽  
Sensor Fault ◽  
Simulation Results

Abstract A fault tolerant control method is proposed for Quanser SRV-02 System in order to maintain the required performance in the presence of sensor failures. The proposed approach integrates control law and a sensor fault tolerance schema. Theoretical analysis and simulation results have confirmed the effectiveness of the proposed method.

Vibration Control of a Distributed Axially Moving String Using Two Actuators

1997 ◽  
Author(s):  
M. S. de Queiroz ◽  
D. M. Dawson ◽  
C. D. Rahn ◽  
F. Zhang
Keyword(s):  
Control Strategy ◽  
Distributed Parameter ◽  
Control Force ◽  
Control Torque ◽  
Type Analysis ◽  
Control Laws ◽  
Parameter Field ◽  
Simulation Results ◽  
Axially Moving ◽  
Mechanical Guide

Abstract In this paper, we consider the problem of regulating the displacement of an axial moving string using a control force and a control torque applied to the string via a mechanical guide. Given the hybrid model of the web system (i.e., distributed parameter field equation coupled to a discrete actuator equation), a Lyapunov-type analysis is utilized to design exact model knowledge and adaptive control laws that exponentially and asymptotically stabilize the string displacement, respectively. Dynamic simulation results demonstrate the vibration damping provided by the control strategy.

scholarly journals Projective Synchronization of Chaotic Systems Via Backstepping Design

2013 ◽  
Vol 18 (3) ◽  
pp. 965-973 ◽  
Author(s):  
A. Tarai ◽  
M.A. Khan
Keyword(s):  
Numerical Simulation ◽  
Chaos Synchronization ◽  
Chaotic Systems ◽  
Lyapunov Stability Theory ◽  
Discrete Dynamical Systems ◽  
Projective Synchronization ◽  
Control Law ◽  
Backstepping Design ◽  
Simulation Results ◽  
Duffing Map

Abstract Chaos synchronization of discrete dynamical systems is investigated. An algorithm is proposed for projective synchronization of chaotic 2D Duffing map and chaotic Tinkerbell map. The control law was derived from the Lyapunov stability theory. Numerical simulation results are presented to verify the effectiveness of the proposed algorithm

scholarly journals Modeling and simulation of an underactuated system

2019 ◽  
Vol 286 ◽  
pp. 02009
Author(s):  
K. Nader ◽  
D. Sarsri
Keyword(s):  
Mechanical Systems ◽  
Control Synthesis ◽  
Underactuated System ◽  
Control Law ◽  
Electronic Systems ◽  
Underactuated Mechanical Systems ◽  
Mechatronic Systems ◽  
Control Laws ◽  
Research Areas ◽  
Active Research

One of the most active research areas in mechatronic systems is the control of mechanical systems controlled by electronic systems using computer programs. These programs execute algorithms called control laws. Our study focuses on the control of underactuated mechanical systems: Case of a reversed two-wheeled pendulum. It consists of developing a control law to stabilize this system. This class of system is rich in practical as well as theoretical applications (SEGWAY, Acrobot robots ...) and this is why the control synthesis for underactuated mechanical systems constitutes a very active research axis and still constitues an open domain for technological research.

scholarly journals Hybrid synchronisation of vallis chaotic systems using nonlinear active control

2018 ◽  
Vol 7 (2.21) ◽  
pp. 50 ◽  
Author(s):  
Piyush Pratap Singh ◽  
Vikash Kumar ◽  
Eshan Tiwari ◽  
Vinay K. Chauhan
Keyword(s):  
Numerical Simulation ◽  
Active Control ◽  
Lyapunov Stability ◽  
Chaotic Systems ◽  
Southern Oscillation ◽  
Lyapunov Stability Theory ◽  
Control Technique ◽  
Control Laws ◽  
Relevant Variables ◽  
Simulation Results

In this paper, hybrid synchronisation of Vallis chaotic systems using a nonlinear control technique is proposed. Vallis system represents the principal quantitative features of the El-Nino Southern Oscillation (ENSO) phenomenon. A nonlinear active control technique is used for hybrid synchronisation. Control laws are designed by using the sum of the relevant variables of the both mater and slave systems. Required Lyapunov stability condition is devised using Lyapunov stability theory. Numerical simulation results reflect the successful achievement of the proposed objectives. MATLAB is used for simulation.  

On Aero Control Law Joined Compensatory PID for Glide down to Fixed Low Altitude System and Simulation Researches

2012 ◽  
Vol 198-199 ◽  
pp. 1021-1024
Author(s):  
De Hai Yu ◽  
Dong Cai Qu ◽  
Jian Hua Lu ◽  
Bin Wen Lu
Keyword(s):  
Control Law ◽  
Simple Analysis ◽  
Control Laws ◽  
Control Scheme ◽  
Improve Accuracy ◽  
Working Principle ◽  
Simulation Results ◽  
Low Altitude ◽  
Constant Altitude ◽  
And Control

In order to improve accuracy of constant altitude fly at low altitude and fly track of glide down to fixed altitude, aeroplane’s control scheme of glide down to fixed low altitude with PID compensatory link were designed. At the same time, the corresponding control laws had been designed. After simple analysis about working principle of the aeroplane’s control system, simulation researches were done to optimize designed control laws, so that achieving expectant requirement. Simulation results show that designed control scheme and control law were accurate and effective.

Research on Technology of Thrust Asymmetry Lateral Compensation for Large Aircraft

2011 ◽  
Vol 383-390 ◽  
pp. 1256-1261 ◽  
Author(s):  
Meng Ji ◽  
Ju Jiang ◽  
Wen Xue ◽  
Zhuo Xun Lin
Keyword(s):  
Numerical Simulation ◽  
Dynamic Characteristics ◽  
New Technology ◽  
Mathematic Model ◽  
Control Law ◽  
Simulation Results ◽  
Controllability Conditions ◽  
Large Aircraft

Thrust asymmetry is dangerous for aircraft, especially in the phases of approach and landing. This paper proposes a new technology to compensate the thrust asymmetry in lateral of large aircraft. The dynamic characteristics of aircraft with asymmetric thrust are firstly analyzed in the paper. Then, the controllability conditions and balanced flight attitude in the case of thrust asymmetry are studied. Based on the mathematic model of Airbus 300, a thrust asymmetry lateral compensator is designed for the phases of approach and landing to ensure the safety of approach and landing. Numerical simulation results show that the designed compensator (control law) can compensate the asymmetric thrust very well.

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.

scholarly journals Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Faten Baklouti ◽  
Sinda Aloui ◽  
Abdessattar Chaari
Keyword(s):  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Underactuated System ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Fuzzy Logic Systems ◽  
Control Laws ◽  
Adaptive Fuzzy ◽  
Hierarchical Sliding Mode

The trajectory tracking of underactuated nonlinear system with two degrees of freedom is tackled by an adaptive fuzzy hierarchical sliding mode controller. The proposed control law solves the problem of coupling using a hierarchical structure of the sliding surfaces and chattering by adopting different reaching laws. The unknown system functions are approximated by fuzzy logic systems and free parameters can be updated online by adaptive laws based on Lyapunov theory. Two comparative studies are made in this paper. The first comparison is between three different expressions of reaching laws to compare their abilities to reduce the chattering phenomenon. The second comparison is made between the proposed adaptive fuzzy hierarchical sliding mode controller and two other control laws which keep the coupling in the underactuated system. The tracking performances of each control law are evaluated. Simulation examples including different amplitudes of external disturbances are made.

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