When designing flight control allocator for an over-actuated flight system, actuator dynamics, generally, are assumed to be ideal since the bandwidths of actuators are much larger than the frequency of aircraft. Howev...
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When designing flight control allocator for an over-actuated flight system, actuator dynamics, generally, are assumed to be ideal since the bandwidths of actuators are much larger than the frequency of aircraft. However, under incremental nonlinear dynamic inversion controller, the interaction between the constrained control allocation frame and actuator dynamics can cause serious consequence. In this work, a method is developed to compensate for actuator dynamics in s-domain analysis. Here, first-order and second-order actuator dynamics are taken into consideration as more complicated actuator dynamics can be combined by these two simplified models. This method solves for gains, which post-processe the output of control allocation frame. The gains are terse in form and are easy to be calculated, which means that it can be implemented into typical flight computer. Simulation results show proposed method can significantly compensate the flaw caused by actuator dynamics.
This research studies how to control a robot to stack blocks according to the block structure shown in a given image. In this project, a LabVIEW program is designed and run on a Lego Mindstorms NXT, which in turn cont...
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ISBN:
(纸本)9783319173146;9783319173139
This research studies how to control a robot to stack blocks according to the block structure shown in a given image. In this project, a LabVIEW program is designed and run on a Lego Mindstorms NXT, which in turn controls a robot built with components of Matrix robotics. There are two operation modes for the block stacking robot. In the first mode, a user uses an Android smartphone to control the robot with Bluetooth to move around, pick up blocks, and stack them. In the second mode, the robot identifies the block structure in a given image with OpenCV and picks up the needed blocks to stack them to build the block structure. The robot was tested with two images of simple block structures in the second mode. The success rates ranged from 7 to 80 %. Future work should further identify the weaknesses of the robot and improve its performance.
The paper proposes the remote experiment that enables a student to conduct the physical control system experiment through the internet. The remote experiment is designed using MATLAB platform to create the user interf...
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With the deepening of research in machine vision and other related fields, vision-based robotic arm control has always been a research hotspot in the field of robotics. For the automatic grasping control of robot arm,...
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The trajectory tracking for a non-holonomic mobile robot is addressed in this paper. Cascade control is implemented with a Sliding Mode controller for the outer loop and a Proportional-Integral-Derivative controller g...
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ISBN:
(纸本)9781728189727
The trajectory tracking for a non-holonomic mobile robot is addressed in this paper. Cascade control is implemented with a Sliding Mode controller for the outer loop and a Proportional-Integral-Derivative controller governing the inner loop. Linear Quadratic Regulator is further applied to the outer loop to optimize the controller's effort. The model is further analyzed based on various output performances such as trajectory tracking, reference tracking of linear and angular velocities, sliding surfaces of the controller, and its robustness. A comparative analysis with and without an optimal approach has been illustrated. Simulations are carried out on a virtual robotic simulator in LabVIEW.
Flexible sensing film has a broad application prospect in the fields of medicine, wearable electronic devices, complex environment sensing, and others. In this paper, dimethylsiloxane (PDMS) was used as a flexible sub...
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In order to improve the self-reliance capacity of physically disabled and elderly people, this paper develops an assistive tool by using hand posture control. The assistive tool is composed of an electric wheelchair a...
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ISBN:
(纸本)9781538666630
In order to improve the self-reliance capacity of physically disabled and elderly people, this paper develops an assistive tool by using hand posture control. The assistive tool is composed of an electric wheelchair and a 6 axis-robot arm. The power wheelchair provides the mobility for challenging people, while the robot arm helps people to grab objects in their daily lives. The functions of the assistive tool are operated by a control glove which senses the hand posture by inertial and electronic sensors. The operational status of the glove is transformed to the corresponding action for the wheelchair and robot arm. The benefit of the developed assistive tool is easy use for disabled and elderly people without needing difficult operational learning. Several experiments have been conducted to demonstrate the design in this paper.
In this paper, the control system of intelligent grasping for a special operation manipulator is designed to complete disaster relief, fire fighting, explosive disposal and the like for replacing human beings. The con...
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In this paper, the control system of intelligent grasping for a special operation manipulator is designed to complete disaster relief, fire fighting, explosive disposal and the like for replacing human beings. The control system of the special operation manipulator is needed to have the characteristics of multiple terminal functions, accurate end accuracy and high system reliability and redundancy within outdoor environment. It puts forward higher requirements for the manipulator performance and operator. After analyzing the work requirements of the manipulator, the D-H parameters and motion space is calculated for further research. The forward and inverse kinematics models are built to make the control system into reality. The target grasping is achieved by using the force and position hybrid control and single joint/end control methods. The intelligent recognition system based on machine learning is constructed. The simulation training based on machine learning is carried out by using the back image of the end camera of the manipulator to help the operator locate the target quickly and accurately. Finally the special operation manipulator is used to carry out the target intelligent grasping experiment based on visual guidance. The test results show the effectiveness of the control system design. Thereby it is suitable to be promoted to other robot or manipulator control system design.
A scheme consisting of only one current follower transconductance amplifier (CFTA) and four passive components is introduced for realizing the novel dual-mode universal biquadratic filter. The introduced filter can pe...
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ISBN:
(纸本)9781538666630
A scheme consisting of only one current follower transconductance amplifier (CFTA) and four passive components is introduced for realizing the novel dual-mode universal biquadratic filter. The introduced filter can perform either in voltage-mode or current-mode, and can realize the highpass, bandpass and lowpass filter responses simultaneously without needing any element matching constraints. The natural angular frequency (omega(0)) and the quality factor (Q) of the filter can be tuned electronically by the transconductance gain of the CFTA. Computer simulations are used to confirm the workability of the proposed circuit.
Automatic excavators, which do not require direct operator intervention, have great advantages in terms of operator convenience and work efficiency, and are receiving a lot of attention. In order to improve the automa...
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ISBN:
(纸本)9798350307573;9798350307566
Automatic excavators, which do not require direct operator intervention, have great advantages in terms of operator convenience and work efficiency, and are receiving a lot of attention. In order to improve the automatic work performance of an excavator, precise motion control of the upper operation part of the automatic excavator is essential. To do this, a model-based control algorithm for an automatic excavator, which is accompanied by a kinematic modeling process of the operation part, is newly designed in this paper. Based on sophisticated simulation, the characteristics of the proposed control algorithm are evaluated by comparing it with the existing proportional-integral-derivative (PID) controller.
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