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Chinese Automation Congress (CAC)

作者： Zhang, Yongchang Li, Jie Xu, Ning Niu, Yifeng Zhu, Huayong Natl Univ Def Technol Coll Mechatron Engn & Automat Changsha Hunan Peoples R China

ISBN: (纸本)9781467371896

This paper considers the 3D path following problem of an Unmanned Aerial Vehicle (UAV), the objective is to steer the UAV along a given reference path, while the desired transient and steady performance is satisfied. To solve the problem, we make use of the typical multi-loop control structure in which the guidance loop controller directs the aircraft to the desired path, while the inner loop controller stabilizes the nonlinear dynamics and tracks the command generated by outer loop. By introducing a virtual target, the proposed Lyapunov based kinematic controller for outer loop can make the UAV asymptotically approach the defined path with smooth movements. Moreover, the developed inner loop controller is based on L-1 adaptive control method, which can provide guaranteed transient performance and guaranteed robustness in the presence of fast adaptation, without introducing or enforcing persistence of excitation, without any gain scheduling in the controller parameters, and without resorting to high-gain feedback. Finally, the controllers are validated by simulation.

关键词： path following UAV multi-loop control visual target L-1 adaptive

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Compliant Landing control of a Trotting Quadruped Robot on Unknown Rough Terrains

Compliant Landing Control of a Trotting Quadruped Robot on U...

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IEEE International Conference on Information and Automation 2015

作者： Lang, Lin Wang, Jian Ma, Hongxu Wei, Qing Natl Univ Def Technol Coll Mech Engn & Automat Changsha Hunan Peoples R China

ISBN: (纸本)9781467391047

This paper presents a compliant landing control strategy for a trotting quadruped robot on unknown rough terrains based on contact force distribution/control algorithm. As joint actuator, the model of hydraulic cylinder is identified by using frequency response method. The compliant control strategy consists of three control loop: outer-loop is position and orientation of body control loop, in which friction cone constraint is considered;mid-loop is contact force control loop;inner-loop is joint torque control loop. In order to rapidly reduce disturbance caused by landing impact force, a landing phase is added between swing phase and stance phase based on contact force control. Finally, a trotting experiment is performed on a rough terrain to validate the effectiveness of the proposed method.

关键词： trotting quadruped robot compliant control multi-loop control landing phase

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Sliding Mode control in a multi-loop Framework for Current control of a Grid-tied Inverter via LCL-filter

Sliding Mode Control in a Multi-loop Framework for Current C...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Rodrigo Padilha Vieira Marcio Stefanello Rodrigo Varella Tambara Hilton Abilio Grundling Federal University of Santa Maria - UFSM Power Electronics and Control Research Group - GEPOC Federal University of Pampa - UNIPAMPA Electronic Systems Research Group - GPSE1

ISBN: (纸本)9781479940318

This paper proposes a current controller for grid tied Voltage Source Inverter (VSI) via a LCL filter using discrete-time Sliding Mode control (SMC) in a multi-loop framework. The inner loop is implemented by the SMC with reference generated by an outer controller for the VSI side current. The tracking of the current entering the distribution network is ensured by a outer controller with a derivative + ressonant structure (for compensation and disturbance rejection with reference tracking). Simulation and experimental results are presented to validate the good performance of the proposed control strategy.

关键词： LCL filter Sliding Mode control multi-loop control

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Iterative learning control for robotic-assisted upper limb stroke rehabilitation in the presence of muscle fatigue

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control ENGINEERING PRACTICE 2014年 31卷 63-72页

作者： Xu, Wenkang Chu, Bing Rogers, Eric Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Jiangsu Peoples R China Univ Southampton Southampton SO17 1BJ Hants England

The use of iterative learning control to regulate assistive functional electrical stimulation applied to the muscles of patients undergoing robotic-assisted upper limb stroke rehabilitation has been followed through small scale clinical trials. These trials confirmed that an increase in patient ability to complete the specified task also led to a reduction in the level of electrical stimulation required. This previous work assumed that the effects of muscle fatigue could be neglected but if a patient suffers fatigue during a rehabilitation session then their the session goals are not achieved or, more likely, the session must be abandoned due to the time limits imposed by the ethical approval required to conduct such sessions. In this paper the results of the first investigation into enhancing the control scheme to remove or lessen the effects of fatigue and hence make better use of the time available for a session are given. The scheme considered adds a feedback loop around the muscle model used, where the performance results given are based on a model for the dynamics constructed using patient data collected in previous clinical trials. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： Iterative learning control Stroke rehabilitation multi-loop control

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The Design of Direct-drive Wind Generation Grid Side PWM Converter Based on LCL Filter

The Design of Direct-drive Wind Generation Grid Side PWM Con...

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4th International Conference on Mechanical Science and Technology (ICMSE 2014)

作者： Sun, Lei Wang, Yuning Gu, Chen Liu, Yiman North China Elect Power Univ Sch Elect Engn Beijing Peoples R China Univ Agr Mech & Elect Coll Hebei Peoples R China

ISBN: (纸本)9783037859650

This paper gives systematically study on grid-side converter with LCL filter for doubly-fed induction generator in wind power. This paper adopts the parameters of the PI-based controller that is already used for the L-filter-based active rectifier. On the basis of model in the dq coordinate system, the paper proposes a double-closed-loop control strategy. Then the simulation model of PWM rectifier is established in the MATLAB/SIMULINK environment. According to the article's theory imitation of the real system design with good dynamic and static performance.

关键词： PWM rectifier multi-loop control Direct-driven wind generation system LCL filter

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A Limiting Property of the Matrix Exponential with Application to multi-loop control

A Limiting Property of the Matrix Exponential with Applicati...

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Joint 48th IEEE Conference on Decision and control (CDC) / 28th Chinese control Conference (CCC)

作者： Trimpe, Sebastian D'Andrea, Raffaello ETH IDSC Sonneggstr 3 CH-8092 Zurich Switzerland

ISBN: (纸本)9781424438723

A limiting property of the matrix exponential is proven: For a real square matrix, where the log norm of the upper-left n by n block approaches negative infinity in a limiting process, the matrix exponential goes to zero in the first n rows and n columns. This property is useful for simplification of dynamic systems that exhibit modes with sufficiently different time scales;for example, in multi-loop control systems with fast inner and slow outer feedback loops. For this case, we derive a time scale separation algorithm for a linear continuous-time model under the assumption of high-gain inner loop feedback, which yields a simplified discrete-time model at the slow time scale. The proposed technique is applied to the design of a two-loop control system for stabilizing an inverted pendulum. Experimental results are provided.

关键词： matrix exponential limiting property logarithmic norm time scale separation multi-loop control

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Combined Active Damping with Adaptive Current control for Converters with LCL Filters

Combined Active Damping with Adaptive Current Control for Co...

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39th Annual Conference of the IEEE Industrial-Electronics-Society (IECON)

作者： Durgante, Marcelo Hahn Plotzki, Haiglan Frank Batista Stefanello, Marcio Fed Univ Pampa UNIPAMPA Elect Syst Res Grp GPSEl Alegrete RS Brazil

ISBN: (纸本)9781479902248

This paper proposes a grid side current control technique for Pulse Width Modulated converters connected to the grid through LCL filters. The system is modeled in order to allow the implementation of a multi-loop control strategy. The inner loop is designed for active damping using the classical approach of feeding back the capacitor voltage or current to implement a Proportional plus Derivative or a Proportional controller, respectively. The outer loop is designed for the compensation of parametric uncertainties and disturbances by means of a Model Reference Adaptive controller. The adaptive behavior allows to easily design the outer controller despite de presence of the inner one.

关键词： Current control multi-loop control LCL filter robust adaptive control

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A Limiting Property of the Matrix Exponential with Application to multi-loop control

A Limiting Property of the Matrix Exponential with Applicati...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Sebastian Trimpe Raffaello D'Andrea the Institute for Dynamic Systems and Control (IDSC)

A limiting property of the matrix exponential is proven: For a real square matrix, where the log norm of the upper-left n by n block approaches negative infinity in a limiting process, the matrix exponential goes to zero in the first n rows and n columns. This property is useful for simplification of dynamic systems that exhibit modes with sufficiently different time scales;for example, in multi-loop control systems with fast inner and slow outer feedback loops. For this case, we derive a time scale separation algorithm for a linear continuous-time model under the assumption of high-gain inner loop feedback,which yields a simplified discrete-time model at the slow time scale. The proposed technique is applied to the design of a two-loop control system for stabilizing an inverted *** results are provided.

关键词： matrix exponential limiting property logarithmic norm time scale separation multi-loop control

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Development and Testing of Small Aerial Vehicles with Redundant Number of Rotors

Development and Testing of Small Aerial Vehicles with Redund...

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IEEE EUROCON Conference

作者： Cvisic, Igor Petrovic, Ivan Univ Zagreb Dept Control & Comp Engn Fac Elect Engn & Comp Unska 3 Zagreb 10000 Croatia

ISBN: (纸本)9781467322324;9781467322300

multiple rotor Unmanned Aerial Vehicles (UAVs) are becoming ubiquitous due to simplicity of their construction, implementation and maintenance. Such UAVs are able to hover, take off and land vertically. In addition, it is relatively straightforward to design an on-board autopilot. In comparison with classical helicopters, multi-rotor aircrafts provide less dangerous testbed in urban and cluttered environments due to their small-size and light-weight blades. In this paper, we present two multi-rotor aircraft prototypes with payload up to one kilogram. In order to achieve greater payload capabilities and increase robustness due to motor failures, the presented prototypes have redundant number of rotors, one has six and other eight rotors. Furthermore, we propose algorithms for data fusion from gyroscopes, accelerometers, magnetometers and GPS for orientation and position estimation. Finally, control algorithms are designed in a multi-loop fashion and successfully tested on the prototypes. The developed UAVs are experimentally tested in real world outdoor environment conditions.

关键词： UAV sensor fusion multi-loop control redundant number of rotors

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Development and Testing of Small Aerial Vehicles with Redundant Number of Rotors

Development and Testing of Small Aerial Vehicles with Redund...

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IEEE EUROCON

作者： Igor Cvisic Ivan Petrovic Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781467322331

multiple rotor Unmanned Aerial Vehicles (UAVs) are becoming ubiquitous due to simplicity of their construction, implementation and maintenance. Such UAVs are able to hover, take off and land vertically. In addition, it is relatively straight-forward to design an on-board autopilot. In comparison with classical helicopters, multi-rotor aircrafts provide less dangerous testbed in urban and cluttered environments due to their small-size and light-weight blades. In this paper, we present two multi-rotor aircraft prototypes with payload up to one kilogram. In order to achieve greater payload capabilities and increase robustness due to motor failures, the presented prototypes have redundant number of rotors, one has six and other eight rotors. Furthermore, we propose algorithms for data fusion from gyroscopes, accelerometers, magnetometers and GPS for orientation and position estimation. Finally, control algorithms are designed in a multi-loop fashion and successfully tested on the prototypes. The developed UAVs are experimentally tested in real world outdoor environment conditions.

关键词： UAV Sensor fusion multi-loop control Redundant number of rotors

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