scholarly journals Cooperative Visual-SLAM System for UAV-Based Target Tracking in GPS-Denied Environments: A Target-Centric Approach

Electronics ◽  
2020 ◽  
Vol 9 (5) ◽  
pp. 813 ◽  
Author(s):  
Juan-Carlos Trujillo ◽  
Rodrigo Munguia ◽  
Sarquis Urzua ◽  
Antoni Grau
Keyword(s):  
Position Estimation ◽  
Lyapunov Theory ◽  
Fundamental Aspect ◽  
Control Laws ◽  
Position Information ◽  
Practical Applications ◽  
Aerial Robots ◽  
Localization And Mapping ◽  
Flight Formation ◽  
The Stability

Autonomous tracking of dynamic targets by the use of Unmanned Aerial Vehicles (UAVs) is a challenging problem that has practical applications in many scenarios. In this context, a fundamental aspect that must be addressed has to do with the position estimation of aerial robots and a target to control the flight formation. For non-cooperative targets, their position must be estimated using the on-board sensors. Moreover, for estimating the position of UAVs, global position information may not always be available (GPS-denied environments). This work presents a cooperative visual-based SLAM (Simultaneous Localization and Mapping) system that allows a team of aerial robots to autonomously follow a non-cooperative target moving freely in a GPS-denied environment. One of the contributions of this work is to propose and investigate the use of a target-centric SLAM configuration to solve the estimation problem that differs from the well-known World-centric and Robot-centric SLAM configurations. In this sense, the proposed approach is supported by theoretical results obtained from an extensive nonlinear observability analysis. Additionally, a control system is proposed for maintaining a stable UAV flight formation with respect to the target as well. In this case, the stability of control laws is proved using the Lyapunov theory. Employing an extensive set of computer simulations, the proposed system demonstrated potentially to outperform other related approaches.

scholarly journals A neural network combined with sliding mode controller for the two-wheel self-balancing robot

2021 ◽  
Vol 10 (3) ◽  
pp. 592
Author(s):  
Duc-Minh Nguyen ◽  
Van-Tiem Nguyen ◽  
Trong-Thang Nguyen
Keyword(s):  
Neural Network ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Control Laws ◽  
Noise Compensation ◽  
Simulation Results ◽  
Balancing Robot ◽  
The Stability

This article presents the sliding control method combined with the selfadjusting neural network to compensate for noise to improve the control system's quality for the two-wheel self-balancing robot. Firstly, the dynamic equations of the two-wheel self-balancing robot built by Euler–Lagrange is the basis for offering control laws with a neural network of noise compensation. After disturbance-compensating, the sliding mode controller is applied to control quickly the two-wheel self-balancing robot reached the desired position. The stability of the proposed system is proved based on the Lyapunov theory. Finally, the simulation results will confirm the effectiveness and correctness of the control method suggested by the authors.

Optimal formation control with limited communication for multi-unmanned aerial vehicle in an obstacle-laden environment

2016 ◽  
Vol 231 (6) ◽  
pp. 979-997 ◽  
Author(s):  
Xiao Lin Ai ◽  
Jian Qiao Yu ◽  
Yong Bo Chen ◽  
Fang Zheng Chen ◽  
Yuan Chuan Shen
Keyword(s):  
Optimal Control ◽  
Control Problem ◽  
Formation Control ◽  
Control Laws ◽  
Control Approach ◽  
Practical Applications ◽  
Limited Communication ◽  
Aerial Vehicle ◽  
The Stability ◽  
Virtual Leader

This paper investigates the formation control problem of multiple unmanned aerial vehicles (UAVs) with limited communication in a known and realistic obstacle-laden environment. In order to deal with the limited communication constraints, the leader–follower strategy and the virtual leader strategy are integrated into an optimal control framework to formulate this formation control problem. This combination formation framework can be achieved by integrating a redefined directed graph and a proposed information vector. In more practical applications, an obstacle/collision avoidance strategy is achieved by constructing a non-quadratic cost function innovatively using a virtual flow field approach. The proposed optimal control laws, which derive from the local information rather than the global information, are proved to guarantee the stability of the close-loop system by an inverse optimal control approach. The simulation results demonstrate the effectiveness of the formation flight of multiple UAVs with limited communication in an obstacle-laden environment.

scholarly journals Extension of SEIR Compartmental Models for Constructive Lyapunov Control of COVID-19 and Analysis in Terms of Practical Stability

Mathematics ◽  
2021 ◽  
Vol 9 (17) ◽  
pp. 2076
Author(s):  
Haiyue Chen ◽  
Benedikt Haus ◽  
Paolo Mercorelli
Keyword(s):  
Disease Transmission ◽  
Model Simulation ◽  
Herd Immunity ◽  
Compartmental Models ◽  
Lyapunov Theory ◽  
Practical Stability ◽  
Effective Control ◽  
Controlled System ◽  
Control Laws ◽  
The Stability

Due to the worldwide outbreak of COVID-19, many strategies and models have been put forward by researchers who intend to control the current situation with the given means. In particular, compartmental models are being used to model and analyze the COVID-19 dynamics of different considered populations as Susceptible, Exposed, Infected and Recovered compartments (SEIR). This study derives control-oriented compartmental models of the pandemic, together with constructive control laws based on the Lyapunov theory. The paper presents the derivation of new vaccination and quarantining strategies, found using compartmental models and design methods from the field of Lyapunov theory. The Lyapunov theory offers the possibility to track desired trajectories, guaranteeing the stability of the controlled system. Computer simulations aid to demonstrate the efficacy of the results. Stabilizing control laws are obtained and analyzed for multiple variants of the model. The stability, constructivity, and feasibility are proven for each Lyapunov-like function. Obtaining the proof of practical stability for the controlled system, several interesting system properties such as herd immunity are shown. On the basis of a generalized SEIR model and an extended variant with additional Protected and Quarantined compartments, control strategies are conceived by using two fundamental system inputs, vaccination and quarantine, whose influence on the system is a crucial part of the model. Simulation results prove that Lyapunov-based approaches yield effective control of the disease transmission.

Robust output feedback trajectory tracking for quadrotors

2018 ◽  
Vol 233 (5) ◽  
pp. 1596-1610 ◽  
Author(s):  
Xiling Shi ◽  
Yunqiang Sun ◽  
Xingling Shao
Keyword(s):  
Sliding Mode ◽  
State Observer ◽  
Lyapunov Theory ◽  
Extended State Observer ◽  
Reference Trajectory ◽  
Extended State ◽  
Control Laws ◽  
Virtual Control ◽  
Output Tracking Control ◽  
The Stability

This paper focuses on robust output tracking control for quadrotors exposed to parametric uncertainties and external disturbances. Based on the back-stepping control principle, the quadrotor dynamics is decomposed into translational and rotational subsystems. To handle the limitation of traditional extended state observer that can only be effective for integral-chain systems, a high-order extended state observer with special structure is developed to estimate the unmeasurable states and the lumped disturbances in rotational subsystem simultaneously. To avoid the tedious analysis and repeated differentiation of virtual control laws in the back-stepping technique, a first-order sliding mode differentiator is introduced to compute the derivative of virtual control law at each step in the presence of disturbances. The stability analysis is established using the Lyapunov theory. Simulation results demonstrate the effectiveness of the proposed control scheme in achieving a guaranteed tracking performance with respect to an 8-shaped reference trajectory.

scholarly journals Sensorless Pedalling Torque Estimation Based on Motor Load Torque Observation for Electrically Assisted Bicycles

Actuators ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 88
Author(s):  
Riccardo Mandriota ◽  
Stefano Fabbri ◽  
Matthias Nienhaus ◽  
Emanuele Grasso
Keyword(s):  
External Disturbance ◽  
State Observer ◽  
Position Estimation ◽  
Load Torque ◽  
Estimation Errors ◽  
Position Information ◽  
Longitudinal Dynamics ◽  
Rotor Position ◽  
Electrically Assisted ◽  
Motor Load

The need for reducing the cost of and space in Electrically Assisted Bicycles (EABs) has led the research to the development of solutions able to sense the applied pedalling torque and to provide a suitable electrical assistance avoiding the installation of torque sensors. Among these approaches, this paper proposes a novel method for the estimation of the pedalling torque starting from an estimation of the motor load torque given by a Load Torque Observer (LTO) and evaluating the environmental disturbances that act on the vehicle longitudinal dynamics. Moreover, this work shows the robustness of this approach to rotor position estimation errors introduced when sensorless techniques are used to control the motor. Therefore, this method allows removing also position sensors leading to an additional cost and space reduction. After a mathematical description of the vehicle longitudinal dynamics, this work proposes a state observer capable of estimating the applied pedalling torque. The theory is validated by means of experimental results performed on a bicycle under different conditions and exploiting the Direct Flux Control (DFC) sensorless technique to obtain the rotor position information. Afterwards, the identification of the system parameters together with the tuning of the control system and of the LTO required for the validation of the proposed theory are thoroughly described. Finally, the capabilities of the state observer of estimating an applied pedalling torque and of recognizing the application of external disturbance torques to the motor is verified.

Non-adhesive lotus and other hydrophobic materials

2008 ◽  
Vol 366 (1870) ◽  
pp. 1539-1556 ◽  
Author(s):  
David Quéré ◽  
Mathilde Reyssat
Keyword(s):  
Solid Surface ◽  
Room Temperature ◽  
Water Repellency ◽  
Short Review ◽  
Water Repellent ◽  
Practical Applications ◽  
Hydrophobic Materials ◽  
Volatile Liquid ◽  
Air Cushion ◽  
The Stability

Superhydrophobic materials recently attracted a lot of attention, owing to the potential practical applications of such surfaces—they literally repel water, which hardly sticks to them, bounces off after an impact and slips on them. In this short review, we describe how water repellency arises from the presence of hydrophobic microstructures at the solid surface. A drop deposited on such a substrate can float above the textures, mimicking at room temperature what happens on very hot plates; then, a vapour layer comes between the solid and the volatile liquid, as described long ago by Leidenfrost. We present several examples of superhydrophobic materials (either natural or synthetic), and stress more particularly the stability of the air cushion—the liquid could also penetrate the textures, inducing a very different wetting state, much more sticky, due to the possibility of pinning on the numerous defects. This description allows us to discuss (in quite a preliminary way) the optimal design to be given to a solid surface to make it robustly water repellent.

scholarly journals Rotor Position Estimation Approaches for Sensorless Control of Permanent Magnet Traction Motor in Electric Vehicles: A Review

2021 ◽  
Vol 12 (1) ◽  
pp. 9
Author(s):  
Yong Li ◽  
Hao Wu ◽  
Xing Xu ◽  
Xiaodong Sun ◽  
Jindong Zhao
Keyword(s):  
Permanent Magnet ◽  
Sensorless Control ◽  
Position Estimation ◽  
Control Technology ◽  
Permanent Magnet Motor ◽  
Traction Motor ◽  
Position Information ◽  
Rotor Position ◽  
Control Techniques ◽  
Speed Range

Permanent magnet traction motor has the advantages of high efficiency, high power density, high torque density and quick dynamic response, which has been widely used in the traction field of electric vehicle. The high-performance control of permanent magnet traction motor depends on accurate rotor position information, which is usually obtained by using mechanical position sensors such as hall sensor, encoder and rotary transformer. However, the traditional mechanical sensor has the disadvantages of high cost, large volume and poor anti-interference ability, which limits the application of permanent magnet motor. The sensorless control technology is an effective way to solve the above-mentioned problem. Firstly, the sensorless control techniques of permanent magnet motor are classified. The sensorless control techniques of permanent magnet motor for rotor initial position, zero-low speed range, medium-high speed range and full speed range are deeply described and compared. Finally, the development trend of sensorless control technology of permanent magnet traction motor is prospected.

A Unified Approach to the Design of Adaptive and Repetitive Controllers for Robotic Manipulators

1990 ◽  
Vol 112 (4) ◽  
pp. 618-629 ◽  
Author(s):  
Nader Sadegh ◽  
Roberto Horowitz ◽  
Wei-Wen Kao ◽  
Masayoshi Tomizuka
Keyword(s):  
Lyapunov Theory ◽  
Control Input ◽  
Robot Arm ◽  
Unified Approach ◽  
Parameter Adaptation ◽  
Control Laws ◽  
Position Errors ◽  
Adaptive Compensator ◽  
Mechanical Manipulators ◽  
Repetitive Controller

A unified approach, based on Lyapunov theory, for synthesis and stability analysis of adaptive and repetitive controllers for mechanical manipulators is presented. This approach utilizes the passivity properties of the manipulator dynamics to derive control laws which guarantee asymptotic trajectory following, without requiring exact knowledge of the manipulator dynamic parameters. The manipulator overall controller consists of a fixed PD action and an adaptive and/or repetitive action for feed-forward compensations. The nonlinear feedforward compensation is adjusted utilizing a linear combination of the tracking velocity and position errors. The repetitive compensator is recommended for tasks in which the desired trajectory is periodic. The repetitive control input is adjusted periodically without requiring knowledge of the explicit structure of the manipulator model. The adaptive compensator, on the other hand, may be used for more general trajectories. However, explicit information regarding the dynamic model structure is required in the parameter adaptation. For discrete time implementations, a hybrid version of the repetitive controller is derived and its global stability is proven. A simulation study is conducted to evaluate the performance of the repetitive controller, and its hybrid version. The hybrid repetitive controller is also implemented in the Berkeley/NSK SCARA type robot arm.

Chaos Anti-Synchronization between Chen System and Lu System

2014 ◽  
Vol 631-632 ◽  
pp. 710-713 ◽  
Author(s):  
Xian Yong Wu ◽  
Hao Wu ◽  
Hao Gong
Keyword(s):  
Chaotic Systems ◽  
Sufficient Conditions ◽  
Lyapunov Theory ◽  
State Variables ◽  
Chen System ◽  
System Parameters ◽  
Control Scheme ◽  
Error Dynamics ◽  
The Stability ◽  
Different Chaotic Systems

Anti-synchronization of two different chaotic systems is investigated. On the basis of Lyapunov theory, adaptive control scheme is proposed when system parameters are unknown, sufficient conditions for the stability of the error dynamics are derived, where the controllers are designed using the sum of the state variables in chaotic systems. Numerical simulations are performed for the Chen and Lu systems to demonstrate the effectiveness of the proposed control strategy.

scholarly journals Natural microbial polysaccharides as effective factors for modification of the catalytic properties of fungal cellobiose dehydrogenase

2021 ◽  
Author(s):  
Justyna Sulej ◽  
Magdalena Jaszek ◽  
Monika Osińska-Jaroszuk ◽  
Anna Matuszewska ◽  
Renata Bancerz ◽  
...  
Keyword(s):  
Catalytic Properties ◽  
Cellobiose Dehydrogenase ◽  
Pycnoporus Sanguineus ◽  
Practical Applications ◽  
Control Value ◽  
Electrochemical Parameters ◽  
Optimum Ph ◽  
Stabilization Effect ◽  
Fungal Polysaccharides ◽  
The Stability

AbstractPolysaccharides are biopolymers composed of simple sugars like glucose, galactose, mannose, fructose, etc. The major natural sources for the production of polysaccharides include plants and microorganisms. In the present work, four bacterial and two fungal polysaccharides (PS or EPS) were used for the modification and preservation of Pycnoporus sanguineus cellobiose dehydrogenase (CDH) activity. It was found that the presence of polysaccharide preparations clearly enhanced the stability of cellobiose dehydrogenase compared to the control value (4 °C). The highest stabilization effect was observed for CDH modified with Rh110EPS. Changes in the optimum pH in the samples of CDH incubated with the chosen polysaccharide modifiers were evidenced as well. The most significant effect was observed for Rh24EPS and Cu139PS (pH 3.5). Cyclic voltammetry used for the analysis of electrochemical parameters of modified CDH showed the highest peak values after 30 days of incubation with polysaccharides at 4 °C. In summary, natural polysaccharides seem to be an effective biotechnological tool for the modification of CDH activity to increase the possibilities of its practical applications in many fields of industry.

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