scholarly journals Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer

2019 ◽  
Vol 9 (19) ◽  
pp. 4012 ◽  
Author(s):  
Shunsuke Nansai ◽  
Takumi Yamato ◽  
Masami Iwase ◽  
Hiroshi Itoh
Keyword(s):  
Numerical Simulation ◽  
Control System ◽  
Dynamic Model ◽  
Ground Surface ◽  
Surface Conditions ◽  
Luenberger Observer ◽  
Key Points ◽  
Switching Dynamic ◽  
Head Control ◽  
Frictional Coefficients

The purpose of this paper is designing a head control system capable of adapting to passive side-slipping. The environments in which snake-like robots are expected to be utilized generally have ground surface conditions with nonuniform frictional coefficients. In such conditions, the passive wheels of the snake-like robot have a chance of side-slipping. To locomote the snake-like robot dexterously, a control system which adapts to such side-slipping is desired. There are two key points to realizing such a system: First, a dynamic model capable of representing the passive side-slipping must be formulated. A solution for the first key point is to develop a switching dynamic model for the snake-like robot, which switches depending on the occurrence of the side-slipping, by utilizing a projection method. The second key point is to adapt the control system’s behavior to side-slipping. An idea for such a solution is to include the side-slipping velocity in the weighting matrices. An algorithm to estimate the occurrence of side-slipping and the particular side-slipping link is constructed, to formulate the dynamic model depending on the actual side-slipping situation. The effectiveness of the designed Luenberger observer and the head control system for side-slipping adaptation is verified through numerical simulation.

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.

Non-Linear Control of Tilting-Quadcopter Using Feedback Linearization Based Motion Control

2014 ◽  
Author(s):  
Alireza Nemati ◽  
Manish Kumar
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Motion Control ◽  
Feedback Linearization ◽  
Linear Control ◽  
Control Architecture ◽  
Simulation Studies ◽  
Nonlinear Dynamic Model ◽  
Feedback Linearization Control ◽  
Arbitrary Trajectory

In this paper, a nonlinear control of a tilting rotor quadcopter is presented. The overall control architecture is divided into two sub-controllers. The first controller is based on the feedback linearization control derived from the dynamic model of the tilting quadcopter. This controls the pitch, roll, and yaw motions required for movement along an arbitrary trajectory in space. The second controller is based on two PD controllers which are used to control the tilting of the quadcopter independently along the pitch and the yaw directions respectively. The overall control enables the quadcopter to combine tilting and movement along a desired trajectory simultaneously. Simulation studies are presented based on the developed nonlinear dynamic model of the tilting rotor quadcopter to demonstrate the validity and effectiveness of the overall control system for an arbitrary trajectory tracking.

A system to test the ground surface conditions of construction sites—for safe and efficient work without physical strain

2005 ◽  
Vol 36 (4) ◽  
pp. 441-448 ◽  
Author(s):  
Ernst Koningsveld ◽  
Maarten van der Grinten ◽  
Henk van der Molen ◽  
Frank Krause
Keyword(s):  
Ground Surface ◽  
Construction Sites ◽  
Physical Strain ◽  
Surface Conditions ◽  
Efficient Work

Numerical Simulation of Thermoelectric Based Temperature Control system for CubeSat in Space

2021 ◽  
Author(s):  
Peifeng Yu ◽  
Chengui Zhang ◽  
Zezhan Zhang ◽  
Yang Yang ◽  
Yi Niu ◽  
...  
Keyword(s):  
Numerical Simulation ◽  
Control System ◽  
Temperature Control ◽  
Temperature Control System

Improvement in the rollover stability of a liquid-carrying articulated vehicle via a new robust controller

2016 ◽  
Vol 231 (3) ◽  
pp. 322-346 ◽  
Author(s):  
Mohammad Amin Saeedi ◽  
Reza Kazemi ◽  
Shahram Azadi
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Dynamic Model ◽  
Sliding Mode ◽  
Degree Of Freedom ◽  
Roll Control ◽  
Mode Control ◽  
Active Steering ◽  
Articulated Vehicle ◽  
Active Roll Control

In this paper, in order to improve the roll stability of an articulated vehicle carrying a liquid, an active roll control system is utilized by employing two different control methods. First, a 16-degree-of-freedom non-linear dynamic model of an articulated vehicle is developed. Next, the dynamic interaction of the liquid cargo with the vehicle is investigated by integrating a quasi-dynamic liquid sloshing model with a tractor–semitrailer model. Initially, to improve the lateral dynamic stability of the vehicle, an active roll control system is developed using classical integral sliding-mode control. The active anti-roll bar is employed as an actuator to generate the roll moment. Next, in order to verify the classical sliding-mode control performance and to eliminate its chattering, the backstepping method and the sliding-mode control method are combined. Subsequently, backstepping sliding-mode control as a new robust control is implemented. Moreover, in order to prevent both yaw instability and jackknifing, an active steering control system is designed on the basis of a simplified three-degree-of-freedom dynamic model of an articulated vehicle carrying a liquid. In the introduced system, the yaw rate of the tractor, the lateral velocity of the tractor and the articulation angle are considered as the three state variables which are targeted in order to track their desired values. The simulation results show that the combined proposed roll control system is more successful in achieving target control and reducing the lateral load transfer ratio than is classical sliding-mode control. A more detailed investigation confirms that the designed active steering system improves both the lateral stability of the vehicle and its handling, in particular during a severe lane-change manoeuvre in which considerable instability occurs.

scholarly journals Hydrodynamic Analysis of Self-Propulsion Performance of Wave-Driven Catamaran

2021 ◽  
Vol 9 (11) ◽  
pp. 1221
Author(s):  
Weixin Zhang ◽  
Ye Li ◽  
Yulei Liao ◽  
Qi Jia ◽  
Kaiwen Pan
Keyword(s):  
Numerical Simulation ◽  
Flow Field ◽  
Dynamic Model ◽  
Dynamic Structure ◽  
Ocean Waves ◽  
Static State ◽  
Small Surface ◽  
Propulsion Performance ◽  
Multi Body ◽  
Body Dynamic

The wave-driven catamaran is a small surface vehicle driven by ocean waves. It consists of a hull and hydrofoils, and has a multi-body dynamic structure. The process of moving from static state to autonomous navigation driven by ocean waves is called “self-propulsion”, and reflects the ability of the wave-driven catamaran to absorb oceanic wave energy. Considering the importance of the design of the wave-driven catamaran, its self-propulsion performance should be comprehensively analysed. However, the wave-driven catamaran’s multi-body dynamic structure, unpredictable dynamic and kinematic responses driven by waves make it difficult to analyse its self-propulsion performance. In this paper, firstly, a multi-body dynamic model is established for wave-driven catamaran. Secondly, a two-phase numerical flow field containing water and air is established. Thirdly, a numerical simulation method for the self-propulsion process of the wave-driven catamaran is proposed by combining the multi-body dynamic model with a numerical flow field. Through numerical simulation, the hydrodynamic response, including the thrust of the hydrofoils, the resistance of the hull and the sailing velocity of the wave-driven catamaran are identified and comprehensively analysed. Lastly, the accuracy of the numerical simulation results is verified through a self-propulsion test in a towing tank. In contrast with previous research, this method combines multi-body dynamics with computational fluid dynamics (CFD) to avoid errors caused by artificially setting the motion mode of the catamaran, and calculates the real velocity of the catamaran.

scholarly journals Progettare la valutazione scolastica degli studenti con BiLS

EL LE ◽  
2018 ◽  
Author(s):  
Carlos Alberto Melero Rodríguez
Keyword(s):  
Control System ◽  
Theoretical Model ◽  
Language Assessment ◽  
Key Points

Language assessment in a classroom-based context is a complex and delicate topic, particularly when the student who is being assessed has Specific Linguistic Needs. This paper outlines a theoretical model for classroom-based assessment of students with Specific Needs. One of the key-points of the model will be feedback, intended both as a phase where results are shared with the students, families or tutors, but also as control system where the results measurements are reintroduced into the system to improve and adjust it.

Modeling head tracking of visual targets

2002 ◽  
Vol 12 (1) ◽  
pp. 25-33
Author(s):  
K.J. Chen ◽  
E.A. Keshner ◽  
B.W. Peterson ◽  
T.C. Hain
Keyword(s):  
Control System ◽  
Visual Feedback ◽  
Human Head ◽  
Feedback System ◽  
Optimization Methods ◽  
Head Tracking ◽  
Feedback Systems ◽  
Control Gain ◽  
Head Control ◽  
Visual Targets

Control of the head involves somatosensory, vestibular, and visual feedback. The dynamics of these three feedback systems must be identified in order to gain a greater understanding of the head control system. We have completed one step in the development of a head control model by identifying the dynamics of the visual feedback system. A mathematical model of human head tracking of visual targets in the horizontal plane was fit to experimental data from seven subjects performing a visual head tracking task. The model incorporates components based on the underlying physiology of the head control system. Using optimization methods, we were able to identify neural processing delay, visual control gain, and neck viscosity parameters in each experimental subject.

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