In order to create a running and jumping quadruped robot composed of all articular joints, we have developed a mono-leg robot which simulates the landing and lift-off motions of kangaroos. From the photograph data of ...
详细信息
In order to create a running and jumping quadruped robot composed of all articular joints, we have developed a mono-leg robot which simulates the landing and lift-off motions of kangaroos. From the photograph data of the gait motion of a kangaroo, time responses of four fundamental variables are approximated by solutions of second or first order differential equations. Then we proposed a control strategy of the robot which realizes these differential equations is controlled constraints. Experimental results show that a running mono-leg robot is produced which has a smooth jumping gaits.
An active suspension control approach is designed for a quarter-vehicle suspension system using a filtered feedback control scheme and a novel compressible fluid suspension system. Analysis of feedback for the mechani...
详细信息
An active suspension control approach is designed for a quarter-vehicle suspension system using a filtered feedback control scheme and a novel compressible fluid suspension system. Analysis of feedback for the mechanical subsystem shows that motions of the sprung mass above and below the wheel frequency can be mitigated using skyhook damping plus active filtering of spring and damping coefficients. The frequency-dependent filtering is accomplished through an outer control loop that generates the target strut force, plus an inner force control loop. Performance of the active suspension control is demonstrated in simulations.
Introduction of an auxiliary input is known to be useful to detect the system fault quickly without affecting the original system behavior in normal mode. Such an auxiliary input is designed to enlarge the distance me...
详细信息
Introduction of an auxiliary input is known to be useful to detect the system fault quickly without affecting the original system behavior in normal mode. Such an auxiliary input is designed to enlarge the distance measured by the Kullback discrimination information measure between the system models corresponding to the normal and the fault modes. However, in practice, the designer hardly knows the exact models. Hence, the optimal auxiliary input should be designed for the case of the system models with uncertainty. Here, the auxiliary input is designed to maximize the distance for the worst combination of system models. Numerical simulation results indicate the applicability of the proposed auxiliary input in fault detection.
This paper presents results of research aimed at improving efficiency of coordinated on-line control of system voltage and reactive power on the basis of developing models, methods, and a controlsystem, integrating t...
详细信息
This paper presents results of research aimed at improving efficiency of coordinated on-line control of system voltage and reactive power on the basis of developing models, methods, and a controlsystem, integrating traditional numerical techniques with fuzzy logic technology. An approach associated with experimental design is considered to construct diverse types of sensitivity indices, which serve as the basis for multi-attribute evaluating efficiency of control actions and, therefore, for forming rules included in knowledge base. Questions of the construction and tuning of linguistic variables as well as rational implementation of fuzzy logic procedures are discussed.
This paper is concerned with the modeling and control of steering system as a subsystem of lateral control architecture of heavy vehicles for the Automated Highway systems. A steering system retrofitted with an actuat...
详细信息
This paper is concerned with the modeling and control of steering system as a subsystem of lateral control architecture of heavy vehicles for the Automated Highway systems. A steering system retrofitted with an actuator is considered. The input and output of the steering system are the reference steering angle command to the actuator and the actual steering angle of the front wheel respectively. Open loop experimental data is fitted to a second order linear model. A linear loop-shaping controller has been designed and experimentally verified. It has also been successfully used as an inner-loop controller of the vehicle lateral controlsystem in the open and closed loop experiments of the heavy vehicle system.
An underwater manipulator mounted on a mobile platform such as underwater vehicles is a multi-body dynamic system. The hydrodynamics of the manipulator mounted on the vehicle are poorly known and time-varying. Further...
详细信息
An underwater manipulator mounted on a mobile platform such as underwater vehicles is a multi-body dynamic system. The hydrodynamics of the manipulator mounted on the vehicle are poorly known and time-varying. Furthermore, its motion is disturbed by the vehicle motion. This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater mobile platform-mounted manipulators. The presented adaptive controlsystem dose not require any information about the system. The adaptive control law estimates control gains defined by the combinations of the bounded constants of system parameter matrices. To evaluate the performance of the adaptive controller, computer simulation was performed with a two-link planar manipulator mounted on a one degree-of-freedom mobile platform. The effects of hydrodynamic forces acting on the manipulator are included.
A Lyapunov approach is used to design regulators for systems subject to loss of control effectiveness. control effectiveness factors are used to quantify faults entering controlsystems through actuators. An adaptive ...
详细信息
A Lyapunov approach is used to design regulators for systems subject to loss of control effectiveness. control effectiveness factors are used to quantify faults entering controlsystems through actuators. An adaptive Kalman filtering algorithm is used to estimate the state as well as the amount of reduction of control effectiveness in a closed-loop setting. The state estimate is fed back to achieve the steady state regulation, while the control effectiveness estimate is used for the on-line tuning of the control law. The resulting regulator is guaranteed to be stable when the estimation error is sufficiently small. An aircraft longitudinal model is used to demonstrate the use of the Lyapunov method.
Our goal is to develop a complete mathematical model to perform nonlinear analysis and design for multivariable diesel-electric drivetrains. This allows one to study energy conversion needed to perform sophisticated a...
详细信息
Our goal is to develop a complete mathematical model to perform nonlinear analysis and design for multivariable diesel-electric drivetrains. This allows one to study energy conversion needed to perform sophisticated analysis of hybrid-electric vehicle performance (driveability and controllability, maneuverability and agility), efficiency, fuel economy and exhaust emission, etc. The full spectrum of the physical phenomena of interconnected energy conversion processes in diesel and electric machines are studied in the contest of multivariable nonlinear analysis, optimization and control. Using a set of differential equations derived, which maps the steady-state and dynamic behavior of high-performance diesel-electric powertrains, an optimal energy management system is designed and tested.
With so many command shaping methods available, there is a need for benchmarking so that the contributions and performance of a particular input can be assessed. This paper develops a closed-form solution for the move...
详细信息
With so many command shaping methods available, there is a need for benchmarking so that the contributions and performance of a particular input can be assessed. This paper develops a closed-form solution for the move plus settling time of a rigid body input when applied to a flexible system with damping. The rigid body solution creates an upper and lower bound on most feasible solutions for systems with actuator constraints. This paper describes the usefulness and importance of benchmarking using the rigid body solution as well as other inputs.
High intensity electromagnetic radiation has been demonstrated to be a source of computer upsets in commercially available digital flight controlsystems. Thus, there is a strong need to investigate its effect on stab...
详细信息
High intensity electromagnetic radiation has been demonstrated to be a source of computer upsets in commercially available digital flight controlsystems. Thus, there is a strong need to investigate its effect on stability and performance. In [3]-[5], electromagnetic disturbances were modeled with a continuous-time Markovian exosystem generating disturbance events. To analyze the effect of these disturbances, the radiated system was modeled as a discrete-time jump linear system with an appropriate set of transition probability rates. The linear systems in this model were all deterministic, hence this method rendered a worst-case stability analysis. In this paper, the technique is generalized by allowing stochastic perturbations to be randomly introduced by the exosystem model. A preliminary stability theory is developed, and an example is presented to compare stability boundaries for radiation parameters using this model against the worst-case scenario.
暂无评论