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11th Annual dynamic systems and control conference (DSCC 2018)

作者： Milanovic, Milos Radisavljevic-Gajic, Verica Villanova Univ Dept Mech Engn 800 East Lancaster Ave Villanova PA 19085 USA

ISBN: (纸本)9780791851906

This paper presents, a novel controller design technique that can be used for the Proton Exchange Membrane Fuel Cell to tackle the impact of the sudden stack current disturbances. The proposed controller design consists of three components: a full-state feedback control loop, an integral of error control loop and a feed-forward control loop. The feed-forward control loop is designed to ease the impact of the piecewise continuous current disturbance on the stack voltage. Linearized system matrices are set up in such a way that a new augmented system is formed. controller gains are calculated by using a quadratic performance criterion which is minimized along the trajectories of the augmented system. Simulation results are presented and discussed.

关键词： PEM Fuel Cell LQ optimization control disturbance rejection integral action

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HYSTERESIS COMPENSATION USING EXTENDED HIGH-GAIN OBSERVER AND dynamic INVERSION

HYSTERESIS COMPENSATION USING EXTENDED HIGH-GAIN OBSERVER AN...

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11th Annual dynamic systems and control conference (DSCC 2018)

作者： Chowdhury, Dhrubajit Al-Nadawi, Yasir Khudhair Tan, Xiaobo Michigan State Univ Dept Elect & Comp Engn E Lansing MI 48824 USA

ISBN: (纸本)9780791851906

Hysteresis is a nonlinearity exhibited by a wide class of smart materials, such as piezoelectrics and shape memory alloys, and it presents challenges in the control of smart material actuated systems (for example, piezo-based nanopositioning systems). Existing methods for hysteresis compensation typically require an explicit model of the hysteresis, which tends to be high-dimensional operators and entails significant complexity in model identification and inversion. In this paper a novel hysteresis compensation method based on extended-high-gain observers and dynamic inversion is presented, which does not assume any specific hysteresis model. An extended high-gain observer is used to estimate the hysteresis output as well as other unknown dynamics of the system model, and then dynamic inversion is implemented to cancel the effect of hysteresis. With a mild assumption on the system and the input nonlinearity, the analysis of the closed-loop system under output feedback shows fast performance recovery to the trajectories of a target system, and that the tracking error converges exponentially to zero. Simulation results are presented to support the efficacy of the proposed approach.

关键词： dynamics (Mechanics) Shape memory alloys Smart materials Closed loop systems Errors Feedback Simulation results

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SETPOINT TRACKING control WITH DISCRETE ACTUATORS USING controlLER SWITCHING

SETPOINT TRACKING CONTROL WITH DISCRETE ACTUATORS USING CONT...

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11th Annual dynamic systems and control conference (DSCC 2018)

作者： Chida, Y. Hara, R. Shinshu Univ Fac Engn Dept Mech Syst Engn Nagano 3808553 Japan Shinshu Univ Grad Sch Sci & Technol Nagano 3808553 Japan

ISBN: (纸本)9780791851890

In the present paper, we discuss a setpoint tracking control problem for a plant with discrete actuators. When a conventional linear servo controller is applied to the plant, undesirable periodic vibrations similar to the limit cycle occasionally occur in the output response caused by synergy with the integration of the steady-state tracking errors and the quantized errors of the control inputs. To prevent an undesirable response, a novel control method is proposed, in which the controller switches the control structure based on the value of the Lyapunov function. The effectiveness of the proposed method was verified through numerical simulations.

关键词： control equipment Actuators Tracking control

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Client-server-based mobile robot control

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IEEE-asme TRANSACTIONS ON MECHATRONICS 1998年第2期3卷 82-90页

作者： Kubitz, O Berger, MO Stenzel, R Rhein Westfal TH Aachen D-52056 Aachen Germany

A control architecture for all autonomous mobile robot usually consists of two components: 1) intelligent control software and 2) an operating system for resource access. From the poind of view of a computer scientist, it is desirable to achieve a certain level abstraction from the resource (be it sensor or effector). Here, this is achieved by introducing a client-server framework for realizing abstract resource access and intelligent control, Hardware details are Ridden in a middleware layer, which is inserted in between operating system and applications. In this paper, we will present the most important features of our client-server approach. The servers decouple hardware and software dependencies, Communication is realized through the use of classes, offering a wide variety of client-server interaction, Event-driven servers and clients lead to quick responses in dynamic environments, Our approach gives reusability, portability, testability. and maintainability through data abstraction, It was successfully applied in our experimental platform AWS.

关键词： behavior-based systems client-server systems central architectures distributed control intelligent control mechatronics mobile robots multisensor systems real-time systems robot programming

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PREDICTION OF WHEEL SLIPPING LIMITS FOR MOBILE ROBOTS

PREDICTION OF WHEEL SLIPPING LIMITS FOR MOBILE ROBOTS

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11th Annual dynamic systems and control conference (DSCC 2018)

作者： Whitman, Alan M. Clayton, Garrett M. Ashrafiuon, Hashem Villanova Univ Dept Mech Engn Ctr Nonlinear Dynam & Control Villanova PA 19085 USA

ISBN: (纸本)9780791851913

In this paper, we present a method to accurately predict the wheel speed limits at which mobile robots can operate without significant slipping. The method is based on an asymptotic solution of the nonlinear equations of motion. Using this approach, we can predict wheel slipping limits of both the inside and outside wheel when the robot is in a circular motion of any radius. The analytical results are supported by experiments which show that the inside wheel slipping limits for circular motions of various radii occur very close to the predicted values.

关键词： Wheels

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control OF dynamic systems USING TIME SCALING

CONTROL OF DYNAMIC SYSTEMS USING TIME SCALING

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10th asme Annual dynamic systems and control conference

作者： Rairan, J. D. Univ Distrital Francisco Jose de Caldas Bogota Colombia

ISBN: (纸本)9780791858271

Human brain capabilities to control are undeniable, but embedding that capacity in an algorithm for the control of a dynamic system has proven limited by natural human bounds such as the reaction time, which restricts the number of industrial applications using a human in the loop. Thus, the authors of this paper propose a new procedure to scale linear systems in time, which makes human control of dynamic systems not only feasible but also comfortable. The scaling method comprises moving poles and zeros of a transfer function proportionally to a scaling factor. Thus, a person controls the scaled version of the system, while the computer acquires his/her reactions, then a neural network learns those reactions. This network controls both scaled and original systems. The new control strategy controls slow and fast systems, as well as stable and unstable systems, achieving high performance for all conditions. Appropriate time scaling, and practice, facilitate the control of any dynamic system.

关键词： dynamic systems

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OPTIMAL ENERGY MANAGEMENT IN A RANGE EXTENDER PHEV USING A CASCADED dynamic PROGRAMMING APPROACH

OPTIMAL ENERGY MANAGEMENT IN A RANGE EXTENDER PHEV USING A C...

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11th Annual dynamic systems and control conference (DSCC 2018)

作者： Oruganti, Pradeep Sharma Jung, Daniel Arasu, Mukilan Ahmed, Qadeer Rizzoni, Giorgio Ohio State Univ Ctr Automot Res Columbus OH 43212 USA

ISBN: (纸本)9780791851906

dynamic programming is widely used to benchmark the performance of a hybrid electric vehicle. It is also well documented that it is a very computationally heavy procedure depending on the number of states and control inputs in the problem formulation. In this paper we investigate the possibility of reduction in the computational time by splitting the number of states and control inputs between two models and applying dynamic programming individually, using the output of one as an input to the other and hence cascading the two models. A range extended hybrid electric vehicle powertrain architecture is modeled with four states and four control inputs, which is considered as the full model. Further, the states and control inputs of the battery and engine are separated from the other states, splitting them between the two new DP models. The vehicle performance estimated from this 'cascaded models approach' is compared with that from the full model. Initial comparisons show a very good match with minor differences in performance and considerable a reduction in computation time from around 6 hours to around a minute.

关键词： dynamic programming Energy management

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MODELING AND dynamicS ANALYSIS OF A BEAM-HOVERBOARD SELF-TRANSPORTATION SYSTEM

MODELING AND DYNAMICS ANALYSIS OF A BEAM-HOVERBOARD SELF-TRA...

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11th Annual dynamic systems and control conference (DSCC 2018)

作者： Mehrvarz, Amin Khodaei, Mohammad Javad Clark, William Jalili, Nader Northeastern Univ Dept Mech Ind Engn Piezoact Syst Lab Boston MA 02115 USA

ISBN: (纸本)9780791851913

In recent years, self-balancing personal transportation devices have gained significant popularity, the most popular ones being the "Hoverboard" systems. These systems utilize the dynamics of an inverted pendulum to create stable lateral motion. In this paper, the dynamic behavior of a hoverboard system with an attached flexible beam is investigated. By introducing a flexible beam, the vibrational characteristics of the system created by both the rider and the environment can be measured and accounted for. The beam is a continuous system modeled as an n degree of freedom (DOF) inverted pendulum. The resulting system becomes an n+2 DOF (n DOF for the beam, one DOF for the rotation of the beam about the wheel axis, and one DOF for the horizontal motion of the system). A mathematical model is developed to simulate the vibrations of the beam when excited by a piezoelectric actuator at the base, and to simulate the horizontal motion necessary to balance the beam as it is excited.

关键词： dynamics (Mechanics) Modeling Transportation systems

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control Oriented dynamic Modeling of A Tension-leg Platform Based Floating Offshore Wind Turbine with dynamic Vibration Absorbers

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11th Annual dynamic systems and control conference (DSCC 2018)

作者： Wu, Zhongyou Li, Yaoyu Univ Texas Dallas Richardson TX 75083 USA

ISBN: (纸本)9780791851913

Due to platform motions, floating offshore wind turbine loads are increased. Among proposed platform concepts, tension leg platform introduces least wind turbine load increase. To reduce wind turbine loads, extra actuators have been added to the platform to suppress the tension leg platform motion. For these actuators controller design, it is critical to derive a mathematical model of the platform-wind turbine-actuator system. In this paper, a reduced 13 DOFs model is derived using Lagrange equation and validated with simulation results from FAST. This reduced model is simple, but accurate enough to predict wind turbine and platform response under wind and wave disturbance. Based on the proposed model, an LQR controller is designed. One simulation case shows that the wind turbine tower load can be effectively reduced by actively controlled DVAs.

关键词： Vibration absorbers Offshore wind turbines Tension-leg platforms dynamic modeling

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PROPORTIONAL NAVIGATION AND MODEL PREDICTIVE control OF AN UNMANNED AUTONOMOUS VEHICLE FOR OBSTACLE AVOIDANCE

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11th Annual dynamic systems and control conference (DSCC 2018)

作者： Shaw, Ryan P. Bevly, David M. Auburn Univ Dept Mech Engn GPS & Vehicle Dynam Lab Auburn AL 36830 USA Auburn Univ Dept Mech Engn Auburn AL 36830 USA

ISBN: (纸本)9780791851913

This paper presents a new approach for the guidance and control of a UGV (Unmanned Ground Vehicle). An obstacle avoidance algorithm was developed using an integrated system involving proportional navigation (PN) and a nonlinear model predictive controller (NMPC). An obstacle avoidance variant of the classical proportional navigation law generates command lateral accelerations to avoid obstacles, while the NMPC is used to track the reference trajectory given by the PN. The NMPC utilizes a lateral vehicle dynamic model. Obstacle avoidance has become a popular area of research for both unmanned aerial vehicles and unmanned ground vehicles. In this application an obstacle avoidance algorithm can take over the control of a vehicle until the obstacle is no longer a threat. The performance of the obstacle avoidance algorithm is evaluated through simulation. Simulation results show a promising approach to conditionally implemented obstacle avoidance.

关键词： Vehicles Navigation Predictive control

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