scholarly journals Trajectory/Path-Following Controller Based on Nonlinear Jerk-Level Error Dynamics

2020 ◽  
Vol 10 (23) ◽  
pp. 8760
Author(s):  
Patrick Piprek ◽  
Michael M. Marb ◽  
Pranav Bhardwaj ◽  
Florian Holzapfel
Keyword(s):  
Equations Of Motion ◽  
Path Following ◽  
Control Law ◽  
Nonlinear Error ◽  
Error Dynamic ◽  
The Difference ◽  
Error Dynamics ◽  
And Performance ◽  
Traditional Approaches ◽  
Path Deviation

This study proposes a novel, nonlinear trajectory/path-following controller based on jerk-level error dynamics. Therefore, at first the nonlinear acceleration-based kinematic equations of motion of a dynamic system are differentiated with respect to time to obtain a representation connecting the translation jerk with the (specific) force derivative. Furthermore, the path deviation, i.e., the difference between the planned and the actual path, is formulated as nonlinear error dynamics based on the jerk error. Combining the derived equations of motion with the nonlinear error dynamics as well as employing nonlinear dynamic inversion, a control law can be derived that provides force derivative commands, which may be commanded to an inner loop for trajectory control. This command ensures an increased smoothness and faster reaction time compared to traditional approaches based on a force directly. Furthermore, the nonlinear parts in the error dynamic are feedforward components that improve the general performance due to their physical connection with the real dynamics. The validity and performance of the proposed trajectory/path-following controller are shown in an aircraft-related application example.

scholarly journals Effects of Asymmetries on the Dynamics of Motorized Momentum Exchange Tether and Payloads Injection Precision

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Naiming Qi ◽  
Yong Yang ◽  
Jun Zhao ◽  
Qilong Sun ◽  
Wenhui Zhang
Keyword(s):  
Pitch Angle ◽  
Gravity Gradient ◽  
Momentum Exchange ◽  
Coupling Analysis ◽  
Space Tether ◽  
Error Dynamic ◽  
The Difference ◽  
Error Dynamics ◽  
Yaw Angle ◽  
Exchange Principle

This paper presents the error dynamic model of motorized momentum exchange tether (MMET) based on the momentum exchange principle of space tether. The error dynamics are caused by the structural bias of the differences in tethers’ length and the difference in payloads’ mass. After that, the coupling analysis between orbit and attitude is presented. It is shown that, with increasing the differences in tethers’ length and payloads’ mass, the COM deviation of the MMET increases linearly. The numerical simulations of the MMET by considering the structural asymmetries are presented; the results show that the asymmetries have tiny influences on the orbit of the chief satellite by decreasing the apogee, which will change the instantaneous velocity at the apogee and affect the payload injection precision. What is more, the structural asymmetries have effects on the attitude elements (including the pitch angle and yaw angle); however, the effects could be weakened by the external torque. The structural asymmetries and gravity gradient torque have composite effects on the angular velocity of the propulsion tether.

A Modification of the Payne-Jones Method of Identifying Abnormal Differences in WISC-R Performance and Verbal IQ's

1996 ◽  
Vol 12 (1) ◽  
pp. 27-32 ◽  
Author(s):  
Louis M. Hsu
Keyword(s):  
Full Scale ◽  
True Score ◽  
Verbal Iq ◽  
Score Difference ◽  
The Difference ◽  
And Performance

The difference (D) between a person's Verbal IQ (VIQ) and Performance IQ (PIQ) has for some time been considered clinically meaningful ( Kaufman, 1976 , 1979 ; Matarazzo, 1990 , 1991 ; Matarazzo & Herman, 1985 ; Sattler, 1982 ; Wechsler, 1984 ). Particularly useful is information about the degree to which a difference (D) between scores is “abnormal” (i.e., deviant in a standardization group) as opposed to simply “reliable” (i.e., indicative of a true score difference) ( Mittenberg, Thompson, & Schwartz, 1991 ; Silverstein, 1981 ; Payne & Jones, 1957 ). Payne and Jones (1957) proposed a formula to identify “abnormal” differences, which has been used extensively in the literature, and which has generally yielded good approximations to empirically determined “abnormal” differences ( Silverstein, 1985 ; Matarazzo & Herman, 1985 ). However applications of this formula have not taken into account the dependence (demonstrated by Kaufman, 1976 , 1979 , and Matarazzo & Herman, 1985 ) of Ds on Full Scale IQs (FSIQs). This has led to overestimation of “abnormality” of Ds of high FSIQ children, and underestimation of “abnormality” of Ds of low FSIQ children. This article presents a formula for identification of abnormal WISC-R Ds, which overcomes these problems, by explicitly taking into account the dependence of Ds on FSIQs.

scholarly journals Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 48
Author(s):  
Mahmood Reza Azizi ◽  
Alireza Rastegarpanah ◽  
Rustam Stolkin
Keyword(s):  
Mobile Robot ◽  
Collision Avoidance ◽  
Motion Control ◽  
Equations Of Motion ◽  
Dynamic Environments ◽  
Discrete State ◽  
Omnidirectional Mobile Robot ◽  
Planning And Control ◽  
Avoidance Strategy ◽  
And Performance

Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynamic environments is studied. The robot’s differential equations of motion are extracted using Kane’s method and converted to discrete state space form. A nonlinear model predictive control (NMPC) strategy is designed based on the derived mathematical model to stabilize the robot in desired positions and orientations. As a main contribution of this work, the velocity obstacles (VO) approach is reformulated to be introduced in the NMPC system to avoid the robot from collision with moving and fixed obstacles online. Considering the robot’s physical restrictions, the parameters and functions used in the designed control system and collision avoidance strategy are determined through stability and performance analysis and some criteria are established for calculating the best values of these parameters. The effectiveness of the proposed controller and collision avoidance strategy is evaluated through a series of computer simulations. The simulation results show that the proposed strategy is efficient in stabilizing the robot in the desired configuration and in avoiding collision with obstacles, even in narrow spaces and with complicated arrangements of obstacles.

scholarly journals Compliant Human–Robot Collaboration with Accurate Path-Tracking Ability for a Robot Manipulator

2021 ◽  
Vol 11 (13) ◽  
pp. 5914
Author(s):  
Daniel Reyes-Uquillas ◽  
Tesheng Hsiao
Keyword(s):  
Sliding Mode ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Path Following ◽  
Path Tracking ◽  
Control Loop ◽  
Loop Control ◽  
Tracking Ability ◽  
The Difference ◽  
Human Robot Collaboration

In this article, we aim to achieve manual guidance of a robot manipulator to perform tasks that require strict path following and would benefit from collaboration with a human to guide the motion. The robot can be used as a tool to increase the accuracy of a human operator while remaining compliant with the human instructions. We propose a dual-loop control structure where the outer admittance control loop allows the robot to be compliant along a path considering the projection of the external force to the tangential-normal-binormal (TNB) frame associated with the path. The inner motion control loop is designed based on a modified sliding mode control (SMC) law. We evaluate the system behavior to forces applied from different directions to the end-effector of a 6-DOF industrial robot in a linear motion test. Next, a second test using a 3D path as a tracking task is conducted, where we specify three interaction types: free motion (FM), force-applied motion (FAM), and combined motion with virtual forces (CVF). Results show that the difference of root mean square error (RMSE) among the cases is less than 0.1 mm, which proves the feasibility of applying this method for various path-tracking applications in compliant human–robot collaboration.

scholarly journals Robust Synchronization of Delayed Chaotic FitzHugh-Nagumo Neurons under External Electrical Stimulation

2012 ◽  
Vol 2012 ◽  
pp. 1-11 ◽  
Author(s):  
Muhammad Rehan ◽  
Keum-Shik Hong
Keyword(s):  
Electrical Stimulation ◽  
Nonlinear Control ◽  
Control Law ◽  
Input Control ◽  
Control Schemes ◽  
Multiple Input ◽  
Cognitive Diseases ◽  
Single Input ◽  
Error Dynamics ◽  
Nonlinear Control Law

Synchronization of chaotic neurons under external electrical stimulation (EES) is studied in order to understand information processing in the brain and to improve the methodologies employed in the treatment of cognitive diseases. This paper investigates the dynamics of uncertain coupled chaotic delayed FitzHugh-Nagumo (FHN) neurons under EES for incorporated parametric variations. A global nonlinear control law for synchronization of delayed neurons with known parameters is developed. Based on local and global Lipschitz conditions, knowledge of the bounds on the neuronal states, the Lyapunov-Krasovskii functional, and theL2gain reduction, a less conservative local robust nonlinear control law is formulated to address the problem of robust asymptotic synchronization of delayed FHN neurons under parametric uncertainties. The proposed local control law guarantees both robust stability and robust performance and provides theL2bound for uncertainty rejection in the synchronization error dynamics. Separate conditions for single-input and multiple-input control schemes for synchronization of a wide class of FHN systems are provided. The results of the proposed techniques are verified through numerical simulations.

Feedback control framework for car-like robots using the unicycle controllers

Robotica ◽  
2011 ◽  
Vol 30 (4) ◽  
pp. 517-535 ◽  
Author(s):  
Maciej Michałek ◽  
Krzysztof Kozłowski
Keyword(s):  
Stability Analysis ◽  
Feedback Control ◽  
Closed Loop ◽  
Path Following ◽  
Rear Wheel ◽  
Front Wheel ◽  
Steering Angle ◽  
Formal Stability ◽  
Control Framework ◽  
Error Dynamics

SUMMARYThe paper introduces a novel general feedback control framework, which allows applying the motion controllers originally dedicated for the unicycle model to the motion task realization for the car-like kinematics. The concept is formulated for two practically meaningful motorizations: with a front-wheel driven and with a rear-wheel driven. All the three possible steering angle domains for car-like robots—limited and unlimited ones—are treated. Description of the method is complemented by the formal stability analysis of the closed-loop error dynamics. The effectiveness of the method and its limitations have been illustrated by numerous simulations conducted for the three main control tasks, namely, for trajectory tracking, path following, and set-point regulation.

Organizational Support for Professionalism, Organizational Citizenship Behavior (OCB), and Performance

2021 ◽  
Vol 10 (1) ◽  
pp. 1-12
Author(s):  
Noviana Norrohmat ◽  
Umar Nimran ◽  
Kusdi Raharjo ◽  
Hamidah Nayati Utami ◽  
Endang Siti Astuti
Keyword(s):  
Organizational Citizenship ◽  
Organizational Citizenship Behavior ◽  
Organizational Support ◽  
Citizenship Behavior ◽  
Research Approach ◽  
The Difference ◽  
And Performance ◽  
Relationship Of ◽  
Descriptive Survey ◽  
The Relationship

The purpose of this research is to determine the organizational support for professionalism that has never been done before. The research approach is to conceptualize the structure of the relationship of variables from a study. Verification research is to test the hypothesis through data collection in the field using two methods, namely descriptive survey and explanatory survey. The use of both methods aims to analyze the causality relationship between research variables in accordance with the hypothesis quantitatively. There is significant influence between the variables of organizational support to professional variables. However, different results are found on the influence of organizational support variables on OCB and performance that have no significant effect. There is also an indirect influence between organizational support variables on OCB and performance through intermediary intervening professionalism variables. The difference between this research and the previous research are the use of constructs and the measurement in the unit of analysis being used.

Some Nonlinear Effects of Magnetic Bearings

1999 ◽  
Author(s):  
Norbert Steinschaden ◽  
Helmut Springer
Keyword(s):  
Equations Of Motion ◽  
Period Doubling ◽  
Path Following ◽  
Nonlinear Effects ◽  
Magnetic Bearing ◽  
Operating Conditions ◽  
Active Magnetic Bearing ◽  
Nonlinear Phenomena ◽  
Amb System ◽  
Large Rotor

Abstract In order to get a better understanding of the dynamics of active magnetic bearing (AMB) systems under extreme operating conditions a simple, nonlinear model for a radial AMB system is investigated. Instead of the common way of linearizing the magnetic forces at the center position of the rotor with respect to rotor displacement and coil current, the fully nonlinear force to displacement and the force to current characteristics are used. The AMB system is excited by unbalance forces of the rotor. Especially for the case of large rotor eccentricities, causing large rotor displacements, the behaviour of the system is discussed. A path-following analysis of the equations of motion shows that for some combinations of parameters well-known nonlinear phenomena may occur, as, for example, symmetry breaking, period doubling and even regions of global instability can be observed.

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