scholarly journals An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System

2016 ◽  
Vol 2016 ◽  
pp. 1-11
Author(s):  
Zhao Yan ◽  
Yun sheng Mao ◽  
Cheng gang Liu
Keyword(s):  
Trajectory Tracking ◽  
Control Method ◽  
Three Dimensional ◽  
Lyapunov Stability Theory ◽  
Euler Method ◽  
State Variables ◽  
Midwater Trawl ◽  
Active Path ◽  
Horizontal Expansion ◽  
The Stability

An improved backstepping control method for three-dimensional trajectory tracking of a midwater trawl system is investigated. A new mathematical model of the trawl system while considering the horizontal expansion effect of two otter boards is presented based on the Newton Euler method. Subsequently, an active path tracking strategy of the trawl system based on the backstepping method is proposed. The nonstrict feedback characteristic of the proposed model employs a control allocation method and several parallel nonlinear PID (Proportion Integration Differentiation) controllers to eliminate the high-order state variables. Then, the stability analysis by the Lyapunov Stability Theory shows that the proposed controller can maintain the stability of the trawl system even with the presence of external disturbances. To validate the proposed controller, a simulation comparison with a linear PID controller was conducted. The simulation results illustrate that the improved backstepping controller is effective for three-dimensional trajectory tracking of the midwater trawl system.

Trajectory Tracking of Underactuated Multibody Systems

2011 ◽  
Author(s):  
Stefan Reichl ◽  
Wolfgang Steiner
Keyword(s):  
Trajectory Tracking ◽  
Multibody Systems ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Feedforward Control ◽  
Equations Of Motion ◽  
Three Dimensional ◽  
Differential Algebraic Equations ◽  
State Variables ◽  
Algebraic Equations

This work presents three different approaches in inverse dynamics for the solution of trajectory tracking problems in underactuated multibody systems. Such systems are characterized by less control inputs than degrees of freedom. The first approach uses an extension of the equations of motion by geometric and control constraints. This results in index-five differential-algebraic equations. A projection method is used to reduce the systems index and the resulting equations are solved numerically. The second method is a flatness-based feedforward control design. Input and state variables can be parameterized by the flat outputs and their time derivatives up to a certain order. The third approach uses an optimal control algorithm which is based on the minimization of a cost functional including system outputs and desired trajectory. It has to be distinguished between direct and indirect methods. These specific methods are applied to an underactuated planar crane and a three-dimensional rotary crane.

scholarly journals Variable Structure Compensation PID Control of Asymmetrical Hydraulic Cylinder Trajectory Tracking

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Difei Liu ◽  
Zhiyong Tang ◽  
Zhongcai Pei
Keyword(s):  
Trajectory Tracking ◽  
Pid Control ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Hydraulic Cylinder ◽  
Control Value ◽  
Equivalent Control ◽  
Asymmetrical Hydraulic Cylinder ◽  
The Stability

A novel variable structure compensation PID control, VSCPID in short, is proposed for trajectory tracking of asymmetrical hydraulic cylinder systems. This new control method improves the system robustness by adding a variable structure compensation term to the conventional PID control. The variable structure term is designed according to sliding mode control method and therefore could compensate the disturbance and uncertainty. Meanwhile, the proposed control method avoids the requirements for exact knowledge of the systems associated with equivalent control value in SMC that means the controller is simple and easy to design. The stability analysis of this approach is conducted with Lyapunov function, and the global stability condition applied to choose control parameters is provided. Simulation results show the VSCPID control can achieve good tracking performances and high robustness compared with the other control methods under the uncertainties and varying load conditions.

scholarly journals A Fractional-Order Discrete Noninvertible Map of Cubic Type: Dynamics, Control, and Synchronization

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-21
Author(s):  
Xiaojun Liu ◽  
Ling Hong ◽  
Lixin Yang ◽  
Dafeng Tang
Keyword(s):  
Fractional Order ◽  
Initial Conditions ◽  
Dimensional Space ◽  
Equilibrium Points ◽  
Three Dimensional ◽  
State Variables ◽  
Discrete Maps ◽  
The Stability ◽  
Control And Synchronization ◽  
Simultaneous Variation

In this paper, a new fractional-order discrete noninvertible map of cubic type is presented. Firstly, the stability of the equilibrium points for the map is examined. Secondly, the dynamics of the map with two different initial conditions is studied by numerical simulation when a parameter or a derivative order is varied. A series of attractors are displayed in various forms of periodic and chaotic ones. Furthermore, bifurcations with the simultaneous variation of both a parameter and the order are also analyzed in the three-dimensional space. Interior crises are found in the map as a parameter or an order varies. Thirdly, based on the stability theory of fractional-order discrete maps, a stabilization controller is proposed to control the chaos of the map and the asymptotic convergence of the state variables is determined. Finally, the synchronization between the proposed map and a fractional-order discrete Loren map is investigated. Numerical simulations are used to verify the effectiveness of the designed synchronization controllers.

Stability Control and Simulation of Wheel-Legged Mobile Robot in Mechanical Engineering

2013 ◽  
Vol 644 ◽  
pp. 123-128
Author(s):  
Ling Yu Sun ◽  
Jian Hua Zhang ◽  
Xiao Jun Zhang
Keyword(s):  
Mobile Robot ◽  
Pid Control ◽  
Control Method ◽  
Three Dimensional ◽  
Stability Domain ◽  
Stability Control ◽  
Terrestrial Environment ◽  
The Stability ◽  
Adaptive Pid Control ◽  
Fuzzy Adaptive

The wheel-legged mobile robot in a complex three-dimensional environment has strong through capacity .Study is very critical for the stability of the control of their body systems. In this paper , based on analysis of the structure of wheel-legged mobile robot designed, the stability is evaluated by the use of (Effective Mass Center) EMC , and the stability domain is established accordingly. A fuzzy adaptive PID control method is created , and verified by ADAMS and MATLAB co-simulation . Simulation results show that the robot in different terrestrial environment, can maintain good stability.

Torque control of new energy four wheel hub motor based on distribution algorithm

2021 ◽  
pp. 29-41
Author(s):  
Shuai Leng ◽  
◽  
Liqiang Jin ◽  
Keyword(s):  
Control Method ◽  
The Body ◽  
Torque Control ◽  
State Variables ◽  
Motor Speed ◽  
Control Effect ◽  
New Energy ◽  
Optimal Efficiency ◽  
Stator Flux ◽  
The Stability

Due to the nonlinear, strong coupling and uncertain parameters of the new energy four-wheel hub motor, it is more difficult to control the torque of the motor. In order to solve this problem, a torque control method of the new energy four-wheel hub motor based on the distribution algorithm is proposed. The dynamic model of the new energy four-wheel hub motor is established, and the unmeasurable flux, electric power and other state variables in the motor model are derived according to the degree of freedom of the body. The whole four-wheel hub motor is taken as the research object, and the optimal efficiency of the drive system is taken as the goal, and the distribution algorithm is used to control the electromagnetic torque of the motor. The simulation results show that after the torque control of new energy four wheel hub motor, the driving range of the vehicle is longer, the amplitude of stator flux changes little, the stator current changes and the stability of motor speed are good, and the torque control effect is better.

scholarly journals Antisynchronization of Nonidentical Fractional-Order Chaotic Systems Using Active Control

2011 ◽  
Vol 2011 ◽  
pp. 1-13 ◽  
Author(s):  
Sachin Bhalekar ◽  
Varsha Daftardar-Gejji
Keyword(s):  
Active Control ◽  
Fractional Order ◽  
Chaotic Systems ◽  
Control Method ◽  
Value Of Time ◽  
State Variables ◽  
Financial Systems ◽  
The Stability ◽  
First Time ◽  
Active Control Method

Antisynchronization phenomena are studied in nonidentical fractional-order differential systems. The characteristic feature of antisynchronization is that the sum of relevant state-variables vanishes for sufficiently large value of time variable. Active control method is used first time in the literature to achieve antisynchronization between fractional-order Lorenz and Financial systems, Financial and Chen systems, and Lü and Financial systems. The stability analysis is carried out using classical results. We also provide numerical results to verify the effectiveness of the proposed theory.

Buckling of a two-layered circular plate with a prestressed layer

2015 ◽  
Vol 22 (4) ◽  
pp. 773-781 ◽  
Author(s):  
Vadim V Eremeev ◽  
Leonid M Zubov
Keyword(s):  
Lower Layer ◽  
Three Dimensional ◽  
Fourier Method ◽  
Euler Method ◽  
Layered Plate ◽  
Lateral Compression ◽  
Equilibrium Equations ◽  
The Stability ◽  
Initial Strains ◽  
Critical Strains

Within the framework of nonlinear elasticity we analyze instability of a uniformly compressed circular two-layered plate with an initially compressed or stretched layer. For a constitutive relation of the material we use the incompressible neo-Hookean model. We assume that the lower layer is subjected to radial tension or compression. As a result in this layer there are initial strains and stresses. The two-layered plate is subjected to a uniform lateral compression. We study the stability of the plate with the use of the static Euler method. Within the method we determine loading parameters for which the linearized boundary-value problem has non-trivial solutions. We derive the three-dimensional linearized equilibrium equations for each layer. The solutions of the latter equations are obtained with the help of the Fourier method. The equation for critical strains is derived. We present an analysis of dependence of critical stress resultants on the initial strains and stiffness parameters.

scholarly journals Nonorthogonal Aerial Optoelectronic Platform Based on Triaxial and Control Method Designed for Image Sensors

Sensors ◽  
2019 ◽  
Vol 20 (1) ◽  
pp. 10
Author(s):  
Quanchao Li ◽  
Shuyan Xu ◽  
Yulei Xu ◽  
Lei Li ◽  
Liu Zhang
Keyword(s):  
Optical Sensors ◽  
Control Method ◽  
Three Dimensional ◽  
Voice Coil Motor ◽  
Image Sensor ◽  
Dimensional Structure ◽  
Internal Space ◽  
Drive Control ◽  
The Stability ◽  
Better Than

A traditional aerial optoelectronic platform consists of inside and outside multilayer gimbals, while an internal gimbal and drive components occupy the internal space where optical sensors are located. In order to improve the replaceability of optical sensors and to increase their available space, this paper introduces a nonorthogonal aerial optoelectronic platform based on three axes; we carried out research on its drive control method. A three-dimensional structure of an aerial optoelectronic platform was designed. A noncontact drive of a linear voice coil motor was introduced, and a drive control scheme of a proportional integral and a disturbance observer was adopted. Finally, simulations and experiments were carried out. Results showed that the aerial optoelectronic platform could effectively release three times the image sensor space, and the servo bandwidth was 60.2 Hz, which was much better than that of traditional two-axis and four-gimbal platforms. The stability accuracy of the system reached 4.9958 micron rad, which was obviously better than that of traditional gimbals. This paper provides a reference for the design of new optoelectronic platforms.

Projective lag synchronization in drive-response dynamical networks

2014 ◽  
Vol 25 (11) ◽  
pp. 1450068 ◽  
Author(s):  
Ghada Al-Mahbashi ◽  
Mohd Salmi Md Noorani ◽  
Sakhinah Abu Bakar
Keyword(s):  
Chaotic Systems ◽  
Control Method ◽  
Lyapunov Stability Theory ◽  
Scaling Factor ◽  
Lag Synchronization ◽  
Dynamical Networks ◽  
Feedback Control Method ◽  
Projective Lag Synchronization ◽  
Error Dynamics ◽  
The Stability

This paper investigates projective lag synchronization (PLS) behavior between chaotic systems in drive-response dynamical networks (DRDNs) model with nonidentical nodes. A hybrid feedback control method is designed to achieve the PLS with and without mismatched terms. Specially, the coupling matrix in this model is not assumed to be symmetric, diffusive or irreducible. The stability of the error dynamics is proven theoretically using the Lyapunov stability theory. Finally, analytical results show that the states of the dynamical network with non-delayed coupling can be asymptotically synchronized onto a desired scaling factor under the designed controller. Moreover, the numerical simulations results demonstrate the validity of the proposed method.

Anti-Control of Chaos of Linear Continuous-Time Systems with Unknown Parameters Using Adaptive Control

2011 ◽  
Vol 403-408 ◽  
pp. 4806-4813
Author(s):  
Farzaneh Akhgari ◽  
Zahra Rahmani ◽  
Behrooz Rezaie
Keyword(s):  
Linear System ◽  
Control Method ◽  
Reference Model ◽  
Lyapunov Stability Theory ◽  
Model Matching ◽  
Control Of Chaos ◽  
Unknown Parameters ◽  
Feedback Control Method ◽  
The Stability ◽  
Controllable Systems

In this paper, a feedback control method is proposed for the anti-control of chaos of linear controllable systems based on model-matching. First, it is considered that the linear system is completely known and an anti-control method is designed. Then, the parameters of the linear controllable system in companion form are assumed to be unknown. The chaotification is achieved choosing an appropriate control law and a parametric updating law based on Lyapunov stability theory, which provides the stability of the resulting adaptive system and the convergence of the tracking errors to zero. The proposed method is applied to anti-control of chaos of a linear system, while the Rössler chaotic system is the reference model. The numerical simulation results show the effectiveness of the proposed method.

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