scholarly journals Numerical Test of Several Controllers for Underactuated Underwater Vehicles

2020 ◽  
Vol 10 (22) ◽  
pp. 8292
Author(s):  
Przemyslaw Herman
Keyword(s):  
Control Algorithm ◽  
Control Strategies ◽  
Numerical Test ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Control Algorithms ◽  
Dynamics Model ◽  
Numerical Tests ◽  
Control Schemes ◽  
Testing Algorithm

This work is devoted to preliminary numerical tests of selected control strategies of underwater vehicles in the absence of a force applied to the side. The aim was to test the effectiveness of control algorithms for underwater vehicle models considered to be underactuated. Initially, the testing algorithm is used to obtain some information about the dynamics model. Several well-known control schemes for two underwater vehicles for two desired trajectories were selected and tested. The simulations made for the planar 3-DOF model of two underwater vehicles show the performance that can be achieved with each control algorithm according to the assumptions made.

scholarly journals Simulation-based usability testing of some tracking controllers for underactuated underwater vehicles using simplified criteria

2021 ◽  
Author(s):  
Przemyslaw Herman
Keyword(s):  
Experimental Validation ◽  
Control Strategies ◽  
Underwater Vehicles ◽  
Control Algorithms ◽  
Simulation Studies ◽  
Numerical Tests ◽  
Control Schemes ◽  
Simulation Based ◽  
Tracking Controllers ◽  
Selection Of

AbstractThis paper proposes a method for the preliminary verification of known control algorithms designed for tracking the desired trajectory of underactuated underwater vehicles. It is based on simplified criteria for the selection of suitable controllers. Moreover, a certain method for the selection of controller parameters is indicated, which can be effective in the initial analysis of the suitability of selected control schemes. In order to demonstrate the possible application of the described approach, several control strategies known from the literature were selected and numerical tests for them were performed for two 3 DOF models of underwater vehicles with different dynamics. The method given here can be useful for simulation studies at the stage of controller selection without its experimental validation.

The Use of Damping Based Semi-Active Control Algorithms in the Mechanical Smart-Spring System

2017 ◽  
Vol 140 (2) ◽  
Author(s):  
Wander Gustavo Rocha Vieira ◽  
Fred Nitzsche ◽  
Carlos De Marqui
Keyword(s):  
Active Control ◽  
Control Algorithm ◽  
Control Strategies ◽  
Vibration Reduction ◽  
Flow Analysis ◽  
Coupled Systems ◽  
Control Technique ◽  
Control Algorithms ◽  
Control Techniques ◽  
Spring Mechanism

In recent decades, semi-active control strategies have been investigated for vibration reduction. In general, these techniques provide enhanced control performance when compared to traditional passive techniques and lower energy consumption if compared to active control techniques. In semi-active concepts, vibration attenuation is achieved by modulating inertial, stiffness, or damping properties of a dynamic system. The smart spring is a mechanical device originally employed for the effective modulation of its stiffness through the use of semi-active control strategies. This device has been successfully tested to damp aeroelastic oscillations of fixed and rotary wings. In this paper, the modeling of the smart spring mechanism is presented and two semi-active control algorithms are employed to promote vibration reduction through enhanced damping effects. The first control technique is the smart-spring resetting (SSR), which resembles resetting control techniques developed for vibration reduction of civil structures as well as the piezoelectric synchronized switch damping on short (SSDS) technique. The second control algorithm is referred to as the smart-spring inversion (SSI), which presents some similarities with the synchronized switch damping (SSD) on inductor technique previously presented in the literature of electromechanically coupled systems. The effects of the SSR and SSI control algorithms on the free and forced responses of the smart-spring are investigated in time and frequency domains. An energy flow analysis is also presented in order to explain the enhanced damping behavior when the SSI control algorithm is employed.

scholarly journals Comparison of Contact Force Control Strategies on Different Robot Arm Types

2010 ◽  
Author(s):  
Hu¨seyin Yaltirik ◽  
A. Kerim Kar ◽  
Bu¨lent Ekici
Keyword(s):  
Force Control ◽  
Control Algorithm ◽  
Control Strategies ◽  
Control Algorithms ◽  
Robot Arm ◽  
Interaction Forces ◽  
Static Contact ◽  
Contact Tasks ◽  
Control Interaction ◽  
Contact Force Control

Nowadays robots are used in various areas. There are extremely important applications where the robot arm tip comes in contact with the environment or an object. During controlling an object, static or in motion, the object or the robot arm should not be damaged. The interaction forces are important in such conditions. Whether the task succeeds or fails depends on how accurate the interaction forces are controlled. The interaction forces are changed depending on the motion of the robot arm. Therefore, to control interaction forces a force control algorithm must be developed. In this research a force control algorithm will first be developed for the quasi-static contact tasks, then it will be extended to the dynamic cases. The goal of this study is to compare force control strategies to achieve the desired interaction forces between the robot arm tip (end-effector) and the environment during contact tasks. Taguchi L9 method is used for comparison of selected force control algorithms which are modeled in SIMULINK MATLAB program.

Acceleration-Driven-Damper (ADD): An Optimal Control Algorithm For Comfort-Oriented Semiactive Suspensions

2004 ◽  
Vol 127 (2) ◽  
pp. 218-229 ◽  
Author(s):  
Sergio M. Savaresi ◽  
Enrico Silani ◽  
Sergio Bittanti
Keyword(s):  
Optimal Control ◽  
Numerical Analysis ◽  
Control Strategy ◽  
Control Algorithm ◽  
Closed Loop ◽  
Control Strategies ◽  
Control Algorithms ◽  
Road Vehicles ◽  
Control Framework ◽  
Analysis Of Performance

The problem considered in this paper is the design and analysis of control strategies for semiactive suspensions in road vehicles. The most commonly used control framework is the well-known Sky–Hook (SH) damping. Two-state or linear approximation of the SH concept are typically implemented. The goal of this paper is to analyze the optimality of SH-based control algorithms, and to propose an innovative control strategy, named Acceleration-Driven-Damper (ADD) control. It is shown that ADD is optimal in the sense that it minimizes the vertical body acceleration (comfort objective) when no road-preview is available. This control strategy is extremely simple; it requires the same sensors of the SH algorithms, and a simple two-state controllable damper. In order to assess and to compare the closed-loop performance of the SH and ADD control strategies, both a theoretical and a numerical analysis of performance are proposed.

Modeling and control of an unmanned underwater vehicle using a mass moving system

2015 ◽  
Vol 29 (06n07) ◽  
pp. 1540014 ◽  
Author(s):  
Seung-Woo Byun ◽  
Donghee Kim ◽  
Hyeung-Sik Choi ◽  
Joon-Young Kim
Keyword(s):  
Degrees Of Freedom ◽  
Underwater Vehicle ◽  
Control Algorithms ◽  
Dynamics Model ◽  
Modeling And Control ◽  
Pitch Control ◽  
Unmanned Underwater Vehicle ◽  
Point Tracking ◽  
Heading Control ◽  
And Control

This paper describes the mathematical modeling and control algorithms of an unmanned underwater vehicle (UUV) named Minekiller. This UUV has two longitudinal thrusters, one vertical thruster, and an internal mass moving system, which can control the pitch rate. The UUV is equipped with a movable mass for pitch control. It is different from other common UUVs, in that it can maintain a static pitch angle. The UUV's 6-DOF (Degrees of Freedom) dynamics model is derived from the hydrodynamic forces and moments acting on it. We applied these hydrodynamic coefficients to dynamic modeling for numerical simulations by MATLAB/SIMULINK©. To compare the performance in various cases, we used a PID controller for depth and heading control. Also, the navigation controller can analyze the way-point tracking performance. These simulation results show the performance of the control algorithms and maneuvering performance of the underwater vehicle.

Nonlinear ℋ∞ state and output feedback control schemes for an autonomous underwater vehicle in the dive plane

2017 ◽  
Vol 40 (6) ◽  
pp. 2024-2038 ◽  
Author(s):  
Subhasish Mahapatra ◽  
Bidyadhar Subudhi
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Control Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Output Feedback Control ◽  
Underwater Vehicle ◽  
State Feedback Control ◽  
Nonlinear Observer ◽  
Disturbance Attenuation ◽  
Control Algorithms

This paper addresses the development of a nonlinear ℋ∞ diving control algorithm for an autonomous underwater vehicle. It employs both state and output feedback control techniques in designing a nonlinear ℋ∞ controller such that the autonomous underwater vehicle tracks the desired depth profile. The diving control problem is formulated as a disturbance attenuation problem, in view of achieving the desired performance by attenuating the internal as well as the external disturbances by ensuring internal stability and robustness. Two Hamilton–Jacobi–Isaacs inequalities have been formulated in the form of a Taylor series technique to determine solutions to the control algorithms. The solution of the first Hamilton–Jacobi–Isaacs inequality renders a state feedback control law whereas the second inequality is exploited to design a nonlinear observer for estimating the autonomous underwater vehicle states in order to realize an output feedback controller. These control algorithms are implemented firstly using the MATLAB/Simulink environment and then, the experimental validation of the developed control algorithm has been performed in order to ensure the effectiveness of the control scheme.

scholarly journals pH-Based Control Strategies for the Nitrification of High-Ammonium Wastewaters

Fermentation ◽  
2021 ◽  
Vol 7 (4) ◽  
pp. 319
Author(s):  
Ignatius Leopoldus van Rooyen ◽  
Hendrik Gideon Brink ◽  
Willie Nicol
Keyword(s):  
Reaction Rate ◽  
Control Strategies ◽  
Environmental Issues ◽  
Control Algorithms ◽  
Maximum Reaction Rate ◽  
Tank Reactor ◽  
Industrial Sectors ◽  
Maximum Reaction ◽  
Control Schemes ◽  
Continuously Stirred Tank Reactor

Aquatic nitrogen pollution is one of the most urgent environmental issues requiring prevention and mitigation. Large quantities of high-ammonium wastewaters are generated by several industrial sectors, such as fertilizer and anaerobic-digestion plants. Nitrification of these wastewaters is commonly carried out, either to remove nitrogen or produce liquid fertilizers. Standard control methodologies for the efficient nitrification of high-ammonium wastewaters to produce liquid fertilizers have not yet been established and are still within their early stages of development. In this paper, novel pH-based control algorithms are presented that maintain operation at the microbial maximum reaction rate (υmax) in batch and continuous reactors. Complete conversion of ammonium to nitrate was achieved in a batch setup, and a conversion of 93% (±1%) was achieved in a continuously-stirred-tank-reactor. The unparalleled performance and affordability of the control schemes proposed offer a steppingstone to the future of sustainable fertilizer production.

scholarly journals Autonomous Underwater Vehicles and Field of View in Underwater Operations

2021 ◽  
Vol 9 (3) ◽  
pp. 277
Author(s):  
Isaac Segovia Ramírez ◽  
Pedro José Bernalte Sánchez ◽  
Mayorkinos Papaelias ◽  
Fausto Pedro García Márquez
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Field Of View ◽  
Guidance System ◽  
Control Algorithms ◽  
Deep Waters ◽  
Underwater Cameras ◽  
Optimal Resolution ◽  
Acquisition Processes ◽  
And Control

Submarine inspections and surveys require underwater vehicles to operate in deep waters efficiently, safely and reliably. Autonomous Underwater Vehicles employing advanced navigation and control systems present several advantages. Robust control algorithms and novel improvements in positioning and navigation are needed to optimize underwater operations. This paper proposes a new general formulation of this problem together with a basic approach for the management of deep underwater operations. This approach considers the field of view and the operational requirements as a fundamental input in the development of the trajectory in the autonomous guidance system. The constraints and involved variables are also defined, providing more accurate modelling compared with traditional formulations of the positioning system. Different case studies are presented based on commercial underwater cameras/sonars, analysing the influence of the main variables in the measurement process to obtain optimal resolution results. The application of this approach in autonomous underwater operations ensures suitable data acquisition processes according to the payload installed onboard.

A Survey on Brachiation Robots: An Energy-Based Review

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Sibyla Andreuchetti ◽  
Vinícius M. Oliveira ◽  
Toshio Fukuda
Keyword(s):  
Special Class ◽  
Control Strategies ◽  
Underactuated Systems ◽  
Decision Variable ◽  
Robot Dynamics ◽  
Technical Literature ◽  
Control Schemes

SUMMARY Many different control schemes have been proposed in the technical literature to control the special class of underactuated systems, the- so-called brachiation robots. However, most of these schemes are limited with regard to the method by which the robot executes the brachiation movement. Moreover, many of these control strategies do not take into account the energy of the system as a decision variable. To observe the behavior of the system’s, energy is very important for a better understanding of the robot dynamics while performing the motion. This paper discusses a variety of energy-based strategies to better understand how the system’s energy may influence the type of motion (under-swing or overhand) the robot should perform.

Development of Dedicated Controller for HVAC

2012 ◽  
Vol 430-432 ◽  
pp. 1472-1476
Author(s):  
Jin Ming Yang ◽  
Yi Lin
Keyword(s):  
Fuzzy Control ◽  
Control Algorithm ◽  
Control Strategies ◽  
Control Software ◽  
Interface Circuits ◽  
Pid Algorithm ◽  
Hardware Interface ◽  
Hvac Control ◽  
Fuzzy Control Algorithm

This article describes the development of a dedicated controller for HVAC control, and introduces the hardware interface circuits about some main chip on controller. In addition, the article also explains composition and principle about control software applied to the controller, further more points out that the fuzzy control algorithm is more reasonable than the PID algorithm for most HVAC control and dedicated control strategies play an important role for HVAC control.

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