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Unmanned Aerial Vehicle Circumnavigation Using Noisy Range-Based Measurements Without Global Positioning System Information

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 2015年第3期137卷 031009-031009页

作者： Hashemi, Araz Cao, Yongcan Casbeer, David W. Yin, George Wayne State Univ Dept Math Detroit MI 48202 USA Air Force Res Lab Control Sci Ctr Excellence Wright Patterson AFB OH 45433 USA

This work develops and analyzes a control algorithm for an unmanned aerial vehicle (UAV) to circumnavigate an unknown target at a fixed radius when the UAV is unable to determine its location and heading. Using a relationship between range-rate and bearing angle (from the target), we formulate a control algorithm that uses the range-rate as a proxy for the bearing angle and adjusts the heading of the UAV accordingly. We consider the addition of measurement errors and model the system with a stochastic differential equation to carry out the analysis. A recurrence result is proven, establishing that the UAV will reach a neighborhood of the desired orbit in finite time, and a mollified control is presented to eliminate a portion of the recurrent set about the origin. Simulation studies are presented to support the analysis and compare the performance against other algorithms for the circumnavigation task.

关键词： Trajectories (Physics) Errors Unmanned aerial vehicles control equipment Simulation control algorithms

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A MODEL-BASED LAYER-TO-LAYER control ALGORITHM FOR INK-JET 3D PRINTING

A MODEL-BASED LAYER-TO-LAYER CONTROL ALGORITHM FOR INK-JET 3...

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ASME 7th Annual Dynamic Systems and control Conference

作者： Lu, Lu Zheng, Jian Mishra, Sandipan Rensselaer Polytech Inst Troy NY 12180 USA

ISBN: (纸本)9780791846193

Ink-jet 3D printing is a promising technology for additive manufacturing, with the potential for impacting a wide variety of industries. In traditional ink-jet 3D printing, the part is built up by depositing droplets layer upon layer in an open-loop manner. Droplet and edge dimensions are typically predicted experimentally and are assumed to remain constant through the printing process. However there is no guarantee of consistent droplet shape and dimensions or the smoothness of the finished parts due to uncertainties in the manufacturing process. To address this issue, we propose a model-based feedback control law for ink-jet 3D printing that uses a height sensor for measuring profile height after each layer for determining the appropriate layer patterns for subsequent layers. Towards this goal, a simple model describing the relationship between profile height change and droplet deposition in the layer building process is first proposed and experimentally identified. Based on this model, a closed-loop layer-to-layer control algorithm is then developed for the ink-jet printing process. Specifically, the proposed algorithm uses a model prediction control algorithm to minimize the difference between the predicted height and the desired height and the predicted surface unevenness after a fixed number of layers. Experimental results show that the algorithm is able to achieve more consistent shapes between layers, reduced edge shrinking of the part, and smoother surface of the top layer.

关键词： Inks control algorithms Additive manufacturing

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The Street Lighting Integrated System Case Study, control Scenarios, Energy Efficiency 19

The Street Lighting Integrated System Case Study, Control Sc...

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19th IEEE International Conference on Emerging Technology and Factory Automation (ETFA)

作者： Ozadowicz, A. Grela, J. AGH Univ Sci & Technol Fac Elect Engn Automat Comp Sci & Biomed Engn Krakow Poland

ISBN: (纸本)9781479948451

In this paper some results of the research works are presented, especially focusing on energy savings in street lighting installations and possibilities of remote lamp monitoring and control, lamp maintenance and reducing the cost of maintenance. The research is based on a system using the LonWorks technology - an open standard of distributed building automation systems, with the power line communication in the field level. A new approach to development of control scenarios and algorithms for such systems and installations has been proposed as well.

关键词： Street Lighting energy efficiency control algorithms energy consumption

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OPTIMAL VEHICLE MOTION control TO MITIGATE SECONDARY CRASHES AFTER AN INITIAL IMPACT

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ASME 7th Annual Dynamic Systems and control Conference

作者： Kim, Byung-joo Peng, Huei Univ Michigan Dept Mech Engn Ann Arbor MI 48109 USA

ISBN: (纸本)9780791846186

Typical drivers are not ready to react to unexpected collisions from other vehicles. The initial impact can startle the driver who then fails to maintain control. Since a loss of control leads to intense skidding and undesirable lateral motions, more severe subsequent events are likely to occur. To reduce the severity of possible subsequent (secondary) crashes, this paper considers both vehicle heading angle and lateral deviation from the original driving path. The research concept here is different from today's electronic stability control systems in that it activates the differential braking even when the magnitude of yaw rate or vehicle slip angle is very high. In addition, the lateral displacement and yaw angle with respect to the road are part of the control objective. The Linear Time Varying Model Predictive control (LTV-MPC) method is used, with the key tire nonlinearities captured through linearization. We consider tire force constraints based on the combined-slip tire model and their dependence on vehicle motion. The computed high-level (virtual) control signals are realized through a control allocation problem which maps vehicle motion commands to tire braking forces considering constraints. Numerical simulation and analysis results are presented to demonstrate the effectiveness of the control algorithm.

关键词： Collisions (Physics) control algorithms Tires Vehicles Displacement Signals Electronic stability control Computer simulation Predictive control Motion control Roads Yaw Braking

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MPPT Algorithm for PV Array Connected to a Hybrid Generation System

MPPT Algorithm for PV Array Connected to a Hybrid Generation...

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International Symposium on Industrial Electronics

作者： Ernesto A. Rodriguez Cleiton M. Freitas Maria D. Bellar Luís F. C. Monteiro University of the State of Rio de Janeiro Campus F. Negr?o de Lima 20559-900 Rio de Janeiro Brazil

ISBN: (纸本)9781467375559

In this paper, a modified algorithm based on the gradient descent method is proposed for determining, in real time, the maximum power provided by a PV Array connected to an Hybrid Generation System (HGS). In this system the PV array is connected to the dc-link of a back-to-back converter to drive a three-phase induction motor from a single-phase power grid. While the PV array operates at its maximum power, the remaining power is drawn or delivered to the power grid according to the load power demands. The proposed algorithm reduces the convergence time period and minimizes the residual error around the Maximum Power Point (MPP) value. The effectiveness of the proposed algorithm is analyzed through simulation results to evaluate its performance under transient and steady-state conditions. Furthermore, its dynamics is compared with the well-known "Perturb and Observe" (P&O) MPPT algorithm.

关键词： Hybrid System MPPT control algorithms perturb and observe gradient descent active rectifier back to back converter photo-voltaic

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Magnetorheological damper control in an energy-harvesting vibration reduction system

Magnetorheological damper control in an energy-harvesting vi...

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15th International Carpathian control Conference (ICCC)

作者： Wegrzynowski, Marcin AGH Univ Sci & Technol Dept Proc Control Krakow Poland

ISBN: (纸本)9781479935284

The paper presents results computer simulations conducted for a semi-active vibration reduction system in an object with one degree of freedom. The system consists of a linear magnetorheological (MR) damper connected with an electromechanical transducer (EM) and a spring. This system is an alternative to a typical semi-active MR damper-based vibration reduction system supplied by an external power source. The task of the EM transducer is to harvest a certain part of energy coming from mechanical vibration and convert it into electrical energy. The voltage induced by EM is used to control the MR damper. The performance of the vibration reduction system was tested with various control algorithms applied to the MR damper working.

关键词： electromechanical transducer MR damper control algorithms Sky-hook algorithm

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An A Priori Planning of Joint Motions for USV as a Problem of Guaranteed control/Estimation

An A Priori Planning of Joint Motions for USV as a Problem o...

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International Symposium on Vehicle, Mechanical, and Electrical Engineering (ISVMEE 2013)

作者： Kruglikov, Sergey V. Kruglikov, Alexey S. Ural Fed Univ Inst Math & Mech UB RAS S Kovalevskoi Str 16 Ekaterinburg 620219 Russia Ural Fed Univ Inst Fundamental Educ Ekaterinburg 620219 Russia

ISBN: (纸本)9783038350033

Navigation and routes planning for a group of unmanned surface vessels (USV) jointly moving in complex environment, including circumvention of seashore and islands, are important applications of computer-based decision-making support systems. A group of objects as an open complex system includes several hierarchy levels and may be controlled by a decision-maker supported by information-analytical software and methodical maintenance. Planning, as a stage of management, includes an a priori phase guidance for all objects in the group, coordinated in both time and directions of approach to the target set restricted by a set of obstacles. A discrete system of priorities reflects relative preferences of importance and allows choosing routes optimal in different senses. One can formalize such tasks in terms of different mathematical models including control problems of formation motion, theory of extreme networks and interval analysis. The paper bases on guaranteed approach to control of dynamic objects under uncertainty. Unified mathematical descriptions of shores, routes of individual objects and the whole group may be given in terms of hierarchic (i)-systems. This allows to reconcile data on geography, environment, object characteristics, peculiarities of control systems and data transmission, including sources and causes of uncertainty, and to describe movement of a group as an extreme problem of control and estimation. The results of computer simulation are considered. One may use similar models to explore economic aspects in application of heterogenic complex of autonomous surface and underwater vessels.

关键词： hierarchical systems co-operative control optimal control and estimation uncertainty duality control algorithms unmanned surface vessels

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Reduction of wheel force variations with magnetorheological devices

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JOURNAL OF VIBRATION AND control 2014年第10期20卷 1552-1564页

作者： Makowski, Michal Knap, Lech Warsaw Univ Technol Fac Automot & Construct Machinery Engn PL-02524 Warsaw Poland

At present, owing predominantly to advances in measurement technology and microprocessor control, development of a new generation of smart materials may lead to widespread adoption of semi-active damping systems into everyday life. An important class of such materials includes so-called "intelligent'' magneto-rheological. A dominant feature of these materials is that their physical properties can be altered relatively easily under the influence of an external magnetic field. In this paper, a simplified model of a vehicle equipped with in-time controlled semi-active magneto-rheological suspension system is presented. Moreover, simple algorithms employed to control it are described and their efficacy studied by computer simulation and direct experiment. Torsional as well as reciprocating vibration magneto-rheological dampers (MRD) were used as in-time semi-active controls. In addition, a magneto-rheological rotary brake (MRB) was employed as a torsional vibration damper. As a result of direct experiments and simulations we were able to obtain characteristics of both devices showing dissipative features and relationship between model parameters. The main goal of this paper is to present methods for assessing the impact of changes in properties of MRD and MRB dampers for a reduction in variations in vertical wheel forces. These properties are controlled by demonstrated optimization algorithm responsible for an optimal selection of friction in magneto-rheological dampers. Also, an optimization criterion has been proposed. A control algorithm presented in this paper has been verified by means of conducting an extensive experimental investigation employing a Ford Transit van. Based on the results of our numerical and experimental studies it has been proved that through properties changes in MRD and MRB dampers it had been possible to reduce the variations in vertical wheel forces. Thus, an increase in the safety of the vehicle is possible.

关键词： Magneto-rheological suspension model parameters identification control algorithms magneto-rheological devices vehicle body vibration control

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Formal design methodology for transforming ladder diagram to Petri nets

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2014年第5-8期73卷 821-836页

作者： Quezada, J. C. Medina, J. Flores, E. Seck Tuoh, J. C. Hernandez, N. Univ Autonoma Estado Hidalgo Escuela Super Tizayuca Tizayuca Pachuca Mexico Univ Autonoma Estado Hidalgo Ctr Invest Avanzada Ingn Ind Tizayuca Pachuca Mexico

Ladder diagram (LD) is a common programming language at industry in order to develops control algorithms of discrete event systems. Besides, it is one of the five programming languages supported by the International Electrotechnical Commission through the IEC-61131-3 standard. Petri net (PN) theory is both a graphical and mathematical tool, which allows modeling discrete event systems in order to obtain a useful formalization to analyze them in a better way. LD control algorithms are continuously developed based on the experience of control system developers. Therefore, it is still a relevant problem on how to formalize a validation for the current and new control algorithms. In the present work, an element-to-element transformation methodology from a LD program to a PN structure is proposed. The original part of this manuscript is the proposal of five PN structures where their markings represent the states and dynamic behavior of energized and de-energized coils, which are not included in previous works. Furthermore, this methodology preserves the structural and dynamical behavior of the LD in the obtained PN. Two control algorithms of real cases are transformed using the proposed methodology.

关键词： control algorithms Ladder diagrams Petri nets Discrete event systems

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The State-of-the-art of Application on Nonlinear control algorithms Based on Smart Dampers

The State-of-the-art of Application on Nonlinear Control Alg...

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2010 The 3rd International Conference on Power Electronics and Intelligent Transportation System (PEITS 2010)

作者： Jianjun Liu,Kuanjun Zhu Division of Engineering Mechanics China Electric Power Research Institute Beijing 100055,China

One challenge in the use of semi-active technology is in developing nonlinear control algorithms that are appropriate for implementation in full-scale *** on the basic characteristics of magnetorheological(MR) damper,the structural control algorithms are *** nonlinear control algorithms are systematically reviewed from the aspects including clipped optimal control,LQR control, and Lyapunov stability ***,the existed problem in application and the future developing in research on the structural control algorithms are summarized respectively.

关键词： MR damper control algorithms nonlinear

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