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Fractional order PD^α joint control of legged robots

JOURNAL OF VIBRATION AND control 2006年第12期12卷 1483-1501页

作者： Silva, Manuel F. Tenreiro Machado, J. A. Inst Engn Porto Dept Elect Engn P-4200072 Oporto Portugal

This paper studies a fractional order proportional and derivative controller for a hexapod robot, having legs with three DoF and joint actuators with saturation, when walking over ground with varying properties. A simulation model is developed and the robot motion is characterized in terms of several locomotion variables. Two indices measure the walking performance based on the mean absolute density of energy per unit distance travelled and on the hip trajectory errors. A set of experiments reveal the influence of different controller tunings on the proposed indices, for different locomotion conditions.

关键词： robotics walking control algorithms fractional calculus performance analysis

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Active noise cancellation for a three-dimensional enclosure by using multiple-channel adaptive control and H∞ control

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JOURNAL OF VIBRATION AND ACOUSTICS-TRANSACTIONS OF THE ASME 1998年第4期120卷 958-964页

作者： Bai, MR Lin, Z Natl Chiao Tung Univ Dept Mech Engn Hsinchu Taiwan

Active noise control (;WC) techniques for a three-dimensional enclosure are compared in terms of two control structures and two control algorithms. The multiple-channel filtered-x least-mean-square (FXLMS) algorithm and the H-infinity robust control algorithm are employed for controller synthesis. Both feedforward and feedback control structures are compared. The Youla's parameterization is employed in the formulation of the multiple-channel feedback FXLMS algorithm. The algorithms are implemented using a floating-point digital signal processor (DSP), Experiments are carried out to validate the ANC approaches for, attenuation of the internal field in a rectangular wooden box Position and number of actuators and sensors are also investigated. A broadband random noise and an engine noise are chosen as the primary noises in the experiments. The experimental results indicate that the feedforward structure yields a broader band of attenuation than the feedback structure. The FXLMS control and H-infinity control achieve comparable performance.

关键词： Actuators Signals Noise control Noise (Sound) Adaptive control Sensors Feedforward control control algorithms Random noise Robust control control equipment Feedback algorithms Engines

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Slewing maneuvers and vibration control of space structures by feedforward feedback moment-gyro controls

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1995年第3期117卷 343-351页

作者： Yang, LF Mikulas, MM Park, KC Su, RJ UNIV COLORADO CTR SPACE CONSTRUCT BOULDER CO 80309 USA

This paper presents a moment-gyro control approach to the maneuver and vibration suppression of a flexible truss arm undergoing a constant slewing motion. The overall slewing motion is triggered by a feedforward input, and a companion feedback controller is employed to augment the feedforward input and subsequently to control vibrations. The feedforward input for the given motion requirement is determined from the combined CMG (control Momentum Gyro) devices and the desired rigid-body motion. The rigid-body dynamic model has enabled us to identify the attendant CMG momentum saturation constraints. The task for vibration control is carried out in two stages;first in the search of a suitable CMG placement along the beam span for various slewing maneuvers, and subsequently in the development of LQ control algorithms for CMG spin stabilization Both analytical and numerical results are presented to show the effectiveness of the present approach.

关键词： Vibration control Dynamic models Spin (Aerodynamics) Vibration suppression Space frame structures Trusses (Building) Rotation Feedforward control control algorithms Particle spin control equipment Feedback Vibration Momentum

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Noise suppression using local acceleration feedback control of an active absorber

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND control ENGINEERING 2015年第6期229卷 495-505页

作者： Pelegrinis, Michail T. Pope, Simon A. Zazas, Ilias Daley, Stephen Univ Sheffield Dept Automat Control & Syst Engn Sheffield S1 3JD S Yorkshire England Univ Southampton Engn & Environm Southampton Hants England

A popular approach for active noise control problems has been the use of the adaptive filtered-X least mean square algorithm. A fundamental problem with feedforward design is that it requires both reference and error sensors. In order to reduce the size, cost and physical complexity of the control system, a feedback controller can be utilised. In contrast to filtered-X least mean square, a feedback controller utilises local acceleration measurements of a sound-absorbing surface instead of global pressure measurements. Most control problems, including active noise control, can be formulated in the general control configuration architecture. This type of architecture allows for the systematic representation of the process and simplifies the design of a vast number of controllers that include H and controllers. Such controllers are considered ideal candidates for active noise control problems as they can combine near-optimal performance with good robustness characteristics. This article investigates the problem of reflected noise suppression in acoustic ducts and the possibilities and trade-offs of applying H-2 control strategies. Hence, by controlling locally the reflecting boundary structure, a global cancellation of the undesired noise can be accomplished. In this article, the H-2 local feedback control strategy and performance are investigated using an experimental pulse tube. The H-2 design was chosen because it was able to provide consistently a stable response in contrast to the design.

关键词： Adaptive control systems control algorithms feedback feedforward control computer adaptive control computer control systems

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Numerical approach to nonlinear control design

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1996年第2期118卷 332-337页

作者： Ostojic, M Sony Systems Design Corporation 2F Takanawa Court 3-13-1 Takanawa Minato-ku Tokyo 108 Japan

The paper presents a new approach to designing tracking control of uncertain nonlinear plants. The approach is entirely based on numerical methods and corresponding recurrence relations. It results in recursive control laws that resolve plant nonlinearities and compensate all disturbances and parameter variations. Also, it enables a free shaping of the control error dynamics. control algorithms based on the method of successive substitutions and the Newton's method are studied in detail. Detailed description of an application and experimental evaluation is included.

关键词： Errors Tracking control Dynamics (Mechanics) Design control algorithms Newton's method Numerical analysis

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System simulation and control of batch-fed solid waste incinerators

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1996年第3期118卷 620-625页

作者： Kuo, JT Department of Mechanical Engineering National Taiwan University Taipei Taiwan 10617

Frequently, due to the irregularities in fuel properties of the wastes and variations in feed rates, the operation of a batch-fed incinerator may encounter pressure surges and transient flue gas leakages. A lumped model to simulate the flow, pressure, and temperature behavior of an incineration system was developed, according to the fundamental conservation laws governing the overall balances of flow and thermal-mechanical energies of the system components. The system dynamic responses to flow control and waste burning variations were analyzed numerically. Qualitatively the results correctly reflected the observed operational characteristics of batch-fed incinerators. The lumped system model can serve as a tool to design control algorithms. The concepts and approaches adopted in this work can be used as the basis for further expansion in details toward the development of an incinerator system simulator for operator training purposes.

关键词： Leakage Flue gases System dynamics Fuels Simulation Transients (Dynamics) Incinerators control algorithms Flow (Dynamics) Design Flow control Combustion Pressure Surges Temperature Solid wastes

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A study of fuzzy-neural force control for a quadrupedal walking machine

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1998年第1期120卷 124-133页

作者： Tsai, CR Lee, TT Natl Taiwan Univ Sci & Technol Dept Elect Engn Taipei Taiwan

In this pager, the inverse kinematics and the foot force distributions of a planetary gear type quadrupedal walking machine are analyzed. This walking machine has four legs and each leg has three-degrees-of-freedom. The whole system has a total of seventeen links. The planetary gear leg is designed for a quadruped which can walk and trot under the following design criteria: high efficiency, compact size, and high payload/weight ratio. A neural network structure fuzzy logic controller is applied to control the foot force distribution of the quadruped walking machine. The performance of this fuzzy logic control algorithm is evaluated. Experimental results show that the fuzzy logic controller is effective in controlling this walking machine.

关键词： Machinery Fuzzy logic Weight (Mass) control algorithms Design Kinematics Force control Planetary gears Artificial neural networks control equipment

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ASYNCHRONOUS INTERACTIVE control-SYSTEMS

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1982年第1期104卷 33-40页

作者： VUSKOVIC, MI HEER, E Institute for Technoeconomic Systems Department of Industrial & Systems Engineering University of Southern California Los Angeles Calif. 90007 Jet Propulsion Laboratory Pasadena Calif. 91103

A class of interactive control systems is derived by generalizing interactive manipulator control systems. The general structural properties of such systems are discussed and an appropriate general software implementation is proposed. This is based on the fact that tasks of interactive control systems can be represented as a network of a finite set of actions which have specific operational characteristics and specific resource requirements, and which are of limited duration. This has enabled the decomposition of the overall control algorithm into a set of subalgorithms, called subcontrollers, which can operate simultaneously and asynchronously. Coordinate transformations of sensor feedback data and actuator set-points have enabled the further simplification of the subcontrollers and have reduced their conflicting resource requirements. The modules of the decomposed control system are implemented as parallel processes with disjoint memory space communicating only by I/O. The synchronization mechanisms for dynamic resource allocation among subcontrollers and other synchronizaton mechanisms are also discussed in this paper. Such a software organization is suitable for the general form of multiprocessing using computer networks with distributed storage.

关键词： Actuators Mechanical properties Sensors control algorithms Multiprocessing control systems Networks Storage Synchronization Resource allocation Computer software Feedback Manipulators

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Mathematical model based on nonlinear differential equations and its control algorithm

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NONLINEAR ENGINEERING - MODELING AND APPLICATION 2024年第1期13卷

作者： Yuan, Xiaohua Ordos Vocat Coll Basic Sci Dept Ordos 017010 Peoples R China

A practical examination of the traditional robotic arm (RA) in operation revealed a significant limitation in its ability to control the position of motion. This underscores the urgent need to enhance the current RA's position control capabilities. Therefore, this study proposes the use of nonlinear differential equations (NDEs) to establish a mathematical model and the design of NDE-based RA motion control algorithms in conjunction with a central pattern generator neural network. A comparison of the control effects showed that the proposed method was highly fitted to the target trajectory. The joint node (JN) motion tracking trajectories of the three RAs were similar, up to 90-85% to the target trajectories of the JNs. In addition, the control of the motion position was similar up to 95-98% to the target motion position trajectories. The motion control algorithm based on NDEs was effective in improving the average execution time of the Pareto optimal frontier of the RA by 58.29%. The joint velocity and angle changes of the three types of RAs under the NDE control algorithm exhibited a high degree of similarity to the fluctuations observed in the expected and predicted curves. These observations contribute to an understanding of the effectiveness of the system observer in observing the joint angle changes. This indicates that the motion control based on NDEs can effectively enhance the tracking effectiveness of the JN positions of the RA, improve the control ability of the RA motion, and increase the joint stability of the RA.

关键词： NDE control algorithms RAs

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Resource Allocation and Cross-Layer control in Wireless Networks

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FOUNDATIONS AND TRENDS IN NETWORKING 2006年第1期1卷 1-144页

作者： Georgiadis, Leonidas Neely, Michael J. Tassiulas, Leandros Aristotle Univ Thessaloniki Thessaloniki 54124 Greece Univ Southern Calif Los Angeles CA 90089 USA Univ Thessaly Volos Greece

Information flow in a telecommunication network is accomplished through the interaction of mechanisms at various design layers with the end goal of supporting the information exchange needs of the applications. In wireless networks in particular, the different layers interact in a nontrivial manner in order to support information transfer. In this text we will present abstract models that capture the cross-layer interaction from the physical to transport layer in wireless network architectures including cellular, ad-hoc and sensor networks as well as hybrid wireless-wireline. The model allows for arbitrary network topologies as well as traffic forwarding modes, including datagrams and virtual circuits. Furthermore the time varying nature of a wireless network, due either to fading channels or to changing connectivity due to mobility, is adequately captured in our model to allow for state dependent network control policies. Quantitative performance measures that capture the quality of service requirements in these systems depending on the supported applications are discussed, including throughput maximization, energy consumption minimization, rate utility function maximization as well as general performance functionals. Cross-layer control algorithms with optimal or suboptimal performance with respect to the above measures are presented and analyzed. A detailed exposition of the related analysis and design techniques is provided.

关键词： .policies resource allocation manner maximization control algorithms transport layer Time Varying network control access layer

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