scholarly journals Integrated Structure-Control Design of a Bipedal Robot Based on Passive Dynamic Walking

Mathematics ◽  
2021 ◽  
Vol 9 (13) ◽  
pp. 1482
Author(s):  
Josué Nathán Martínez-Castelán ◽  
Miguel Gabriel Villarreal-Cervantes
Keyword(s):  
Design Process ◽  
Control Design ◽  
Control Signal ◽  
Sequential Design ◽  
Design Approach ◽  
Energetic Efficiency ◽  
Robot Dynamics ◽  
Structural Description ◽  
Bipedal Robot ◽  
Structure Control

The design of bipedal robots is generally fulfilled through considering a sequential design approach, where a synergistic relationship between its structure and control features is not promoted. Hence, a novel integrated structure-control design approach is proposed to simultaneously obtain the optimal structural description, the torque magnitudes, and the on/off time intervals for the control signal input of a semi-passive bipedal robot. The proposed approach takes advantage of the natural dynamics of the system and the control signal activation/deactivation for generating stable gait cycles with minimum energy consumption. Consequently, the passive features of the semi-passive bipedal robot are included in the integrated structure-control design process through evaluating the system behavior along consecutive passive and semi-passive walking stages. Then, the proposed design approach is formulated as a nonlinear discontinuous dynamic optimization problem, where the solution search is carried out using the differential evolution algorithm due to the discontinuities of the semi-passive bipedal robot dynamics. The results of the proposal are compared with those obtained by a sequential design process. The integrated structure-control design achieves a reduction of 63.55% in the value of the performance function related to the synergy between the walking capability and energetic efficiency, with a reduction in the activation of the control and its magnitude of 95.41%.

Theoretical Evaluation of the Integrated Structure and Control Design Approach by Optimization Theory

2002 ◽  
Author(s):  
Ke Fu ◽  
James K. Mills
Keyword(s):  
Optimization Problems ◽  
Integrated Design ◽  
Optimization Theory ◽  
Control Design ◽  
Structure Design ◽  
Sequential Design ◽  
Design Approach ◽  
Theoretical Evaluation ◽  
Integrated Design Approach ◽  
And Control

Comparing to the traditional sequential design approach, the integrated structure and control design approach integrates the mechanical structure design and the control system design by formulating the design as an optimization problem. This paper investigates two important questions pertaining to the integrated structure and control design approach: Why and when should the integrated design approach be used rather than the traditional sequential design approach? In this paper, we have formulated both approaches as optimization problems. The benefit of the integrated design approach over the sequential design approach is proved in this paper. The conditions for when the integrated design approach will result in better closed-loop system performances are also given. A simple example is given to illustrate the theoretical results derived. The conclusion is given following this example and the simulation results are shown at the end of the paper.

Robust Structure-Control Design Approach for Mechatronic Systems

2013 ◽  
Vol 18 (5) ◽  
pp. 1592-1601 ◽  
Author(s):  
Miguel G. Villarreal-Cervantes ◽  
Carlos A. Cruz-Villar ◽  
Jaime Alvarez-Gallegos ◽  
Edgar A. Portilla-Flores
Keyword(s):  
Control Design ◽  
Design Approach ◽  
Mechatronic Systems ◽  
Structure Control

A Multi-Cylinder HCCI Engine Model for Control

2004 ◽  
Author(s):  
Jason S. Souder ◽  
Parag Mehresh ◽  
J. Karl Hedrick ◽  
Robert W. Dibble
Keyword(s):  
Design Process ◽  
Control Design ◽  
The Other ◽  
Variable Valve Timing ◽  
Valve Timing ◽  
Coupling Effects ◽  
Hcci Engine ◽  
Engine Model ◽  
Hcci Engines ◽  
Variable Valve

Homogeneous charge compression ignition (HCCI) engines are a promising engine technology due to their low emissions and high efficiencies. Controlling the combustion timing is one of the significant challenges to practical HCCI engine implementations. In a spark-ignited engine, the combustion timing is controlled by the spark timing. In a Diesel engine, the timing of the direct fuel injection controls the combustion timing. HCCI engines lack such direct in-cylinder mechanisms. Many actuation methods for affecting the combustion timing have been proposed. These include intake air heating, variable valve timing, variable compression ratios, and exhaust throttling. On a multi-cylinder engine, the combustion timing may have to be adjusted on each cylinder independently. However, the cylinders are coupled through the intake and exhaust manifolds. For some of the proposed actuation methods, affecting the combustion timing on one cylinder influences the combustion timing of the other cylinders. In order to implement one of these actuation methods on a multi-cylinder engine, the engine controller must account for the cylinder-to-cylinder coupling effects. A multi-cylinder HCCI engine model for use in the control design process is presented. The model is comprehensive enough to capture the cylinder-to-cylinder coupling effects, yet simple enough for the rapid simulations required by the control design process. Although the model could be used for controller synthesis, the model is most useful as a starting point for generating a reduced-order model, or as a plant model for evaluating potential controllers. Specifically, the model includes the dynamics for affecting the combustion timing through exhaust throttling. The model is readily applicable to many of the other actuation methods, such as variable valve timing. Experimental results validating the model are also presented.

Supervisory Machining Control: Design Approach and Experiments

CIRP Annals ◽  
1998 ◽  
Vol 47 (1) ◽  
pp. 301-306 ◽  
Author(s):  
Robert G. Landers ◽  
Galip A. Ulsoy
Keyword(s):  
Control Design ◽  
Design Approach ◽  
Machining Control

scholarly journals A Model-Based Control Design Approach for Linear Free-Piston Engines

2017 ◽  
Vol 139 (11) ◽  
Author(s):  
T. N. Kigezi ◽  
J. F. Dunne
Keyword(s):  
Control Design ◽  
Linear Quadratic Regulator ◽  
Design Approach ◽  
Linear Quadratic ◽  
Free Piston ◽  
Model Based Control ◽  
Model Based ◽  
Bottom Dead Center ◽  
Free Piston Engine ◽  
Advanced Control

A general design approach is presented for model-based control of piston position in a free-piston engine (FPE). The proposed approach controls either “bottom-dead-center” (BDC) or “top-dead-center” (TDC) position. The key advantage of the approach is that it facilitates controller parameter selection, by the way of deriving parameter combinations that yield both stable BDC and stable TDC. Driving the piston motion toward a target compression ratio is, therefore, achieved with sound engineering insight, consequently allowing repeatable engine cycles for steady power output. The adopted control design approach is based on linear control-oriented models derived from exploitation of energy conservation principles in a two-stroke engine cycle. Two controllers are developed: A proportional integral (PI) controller with an associated stability condition expressed in terms of controller parameters, and a linear quadratic regulator (LQR) to demonstrate a framework for advanced control design where needed. A detailed analysis is undertaken on two FPE case studies differing only by rebound device type, reporting simulation results for both PI and LQR control. The applicability of the proposed methodology to other common FPE configurations is examined to demonstrate its generality.

On the Properties of a Dynamic Model of Flexible Robot Manipulators

1998 ◽  
Vol 120 (1) ◽  
pp. 8-14 ◽  
Author(s):  
Marco A. Arteaga
Keyword(s):  
Dynamic Model ◽  
Structural Properties ◽  
Robot Manipulators ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Control Design ◽  
Flexible Manipulator ◽  
Robot Dynamics ◽  
Flexible Link ◽  
Flexible Robot

Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

scholarly journals Building Capabilities Through Democratic Dialogues

Design Issues ◽  
2018 ◽  
Vol 34 (4) ◽  
pp. 80-95 ◽  
Author(s):  
Liesbeth Huybrechts ◽  
Katrien Dreessen ◽  
Ben Hagenaars
Keyword(s):  
Design Process ◽  
Participatory Design ◽  
Design Approach ◽  
Railway Track ◽  
Alternative Futures ◽  
Design Processes ◽  
Self Organized ◽  
Complex Design ◽  
Developing Strategies

Designers are increasingly involved in designing alternative futures for their cities, together with or self-organized by citizens. This article discusses the fact that (groups of) citizens often lack the support or negotiation power to engage in or sustain parts of these complex design processes. Therefore the “capabilities” of these citizens to collectively visualize, reflect, and act in these processes need to be strengthened. We discuss our design process of “democratic dialogues” in Traces of Coal—a project that researches and designs together with the citizens an alternative spatial future for a partially obsolete railway track in the Belgian city of Genk. This process is framed in a Participatory Design approach and, more specifically, in what is called “infrastructuring,” or the process of developing strategies for the long-term involvement of participants in the design of spaces, objects, or systems. Based on this process, we developed a typology of how the three clusters of capabilities (i.e., visualize, reflect, and act) are supported through democratic dialogues in PD processes, linking them to the roles of the designer, activities, and used tools.

scholarly journals Stable Model Predictive Control Design: Sequential Approach

2011 ◽  
Vol 62 (2) ◽  
pp. 99-103
Author(s):  
Vojtech Veselý
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Design Method ◽  
Control Design ◽  
Sequential Design ◽  
Stable Model ◽  
Sequential Approach ◽  
Prediction Horizon ◽  
Guaranteed Cost ◽  
One Step

Stable Model Predictive Control Design: Sequential Approach The paper addresses the problem of output feedback stable model predictive control design with guaranteed cost. The proposed design method pursues the idea of sequential design for N prediction horizon using one-step ahead model predictive control design approach. Numerical examples are given to illustrate the effectiveness of the proposed method.

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