A Stable Approach for Modular Learning and its Application to Autonomous Aero-Robot

2006 ◽  
Vol 18 (1) ◽  
pp. 44-50 ◽  
Author(s):  
Mai Bando ◽  
◽  
Hiroaki Nakanishi
Keyword(s):  
Control System ◽  
Numerical Simulations ◽  
Design Method ◽  
Autonomous Robot ◽  
Flight Experiment ◽  
Dynamic Relations ◽  
Lyapunov Design

A control system for an autonomous robot, which consists of several cooperative modules whose combination and structures change dynamically through interaction with environment, is discussed in this paper. We propose a method to design a control system by modular learning based on Lyapunov design method. In our method, modules that have different property and the dynamic relations between modules to achieve the task are learned. Numerical simulations and flight experiment of an autonomous aero-robot demonstrate the effectiveness of the proposed method.

scholarly journals Effective Semiactive Base Isolation System under Multiple Earthquakes

2018 ◽  
Vol 2018 ◽  
pp. 1-12
Author(s):  
Mohtasham Mohebbi ◽  
Hamed Dadkhah
Keyword(s):  
Control System ◽  
Numerical Simulations ◽  
Base Isolation ◽  
Design Method ◽  
Mr Damper ◽  
Semiactive Control ◽  
Maximum Acceleration ◽  
Isolation System ◽  
Base Isolation System ◽  
Multiple Earthquakes

A method is proposed to design an effective semiactive control system composed of a linear low damping base isolation and a supplemental magnetorheological (MR) damper when the structure subjected to multiple earthquakes. In the proposed design method, the parameters of semiactive control system have been determined based on minimizing the average of maximum response of isolated structure under multiple design ground motions. To select appropriate value for force related weighting parameter, defined in performance index, a range has been suggested for each design objective. For numerical simulations, a scaled three-story base-isolated frame subjected to different scaled real earthquakes as well as filtered white noise excitations and the proposed method has been applied to design semiactive base isolation system under multiple earthquakes. The results of numerical simulations have shown the capability of the proposed method in designing an effective semiactive base isolation system, the performance of which under multiple earthquakes has been almost close to the case that it is designed optimally for each earthquake separately. Also, under multiple earthquakes, using the passive-off and passive-on forms of MR damper can be recommended, respectively, regarding to the objectives of minimizing the maximum acceleration and base drift.

Intelligent Information of TS Fuzzy PID Control System of BLDCM

2013 ◽  
Vol 846-847 ◽  
pp. 313-316 ◽  
Author(s):  
Xiao Yun Zhang
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Pid Control ◽  
Control Method ◽  
Design Method ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Control Precision ◽  
Simulation Results ◽  
Intelligent Information

This paper presented a new method based on the Fuzzy self - adaptive PID for BLDCM. This method overcomes some defects of the traditional PID control. Such as lower control precision and worse anti - jamming performance. It dynamic model of BLDCM was built, and then design method for TS fuzzy PID model is given, At last, it compared simulation results of PID control method with TS Fuzzy PID control method. The results show that the TS Fuzzy PID control method has more excellent dynamic antistatic performances, as well as anti-jamming performance. The experiment shows that TS fuzzy PID control has the stronger adaptability robustness and transplant.

A Design Method of TDOF Controller for Sampled-Data Control System: A Method Using Dynamical Model of Feedback Controller

1999 ◽  
Author(s):  
Mitsuo Hirata ◽  
Akiyo Murase ◽  
Takenori Atsumi ◽  
Kenzo Nonami
Keyword(s):  
Control System ◽  
Design Method ◽  
Feedback Controller ◽  
Dynamical Model ◽  
Sampled Data ◽  
System A ◽  
Data Control ◽  
Sampled Data Control ◽  
Model Transfer ◽  
Two Degree Of Freedom

Abstract It has been proposed the design method of the two-degree-of-freedom (TDOF) controller which use the dynamical model of the feedback controller. In this study, we apply this design method to the sampled-data control system. The TDOF controller is obtained so that the output of the TDOF system follows the output of the model transfer function considering the intersample behaviors.

scholarly journals Synchronization and Anti-Synchronization of Two Identical Hyperchaotic Systems Based on Active Backstepping Design

2011 ◽  
pp. 117-122
Author(s):  
Atefeh Saedian ◽  
Hassan Zarabadipoor
Keyword(s):  
Numerical Simulations ◽  
Active Control ◽  
Chaos Control ◽  
Control Method ◽  
Design Method ◽  
Backstepping Design ◽  
Backstepping Technique ◽  
Control Approach ◽  
Hyperchaotic Systems

This paper presents an active backstepping design method for synchronization and anti-synchronization of two identical hyperchaotic Chen systems. The proposed control method, combining backstepping design and active control approach, extends the application of backstepping technique in chaos control. Based on this method, different combinations of controllers can be designed to meet the needs of different applications. Numerical simulations are shown to verify the results.

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