Several established concepts of analytical mechanics are reviewed and extended to include redundant configuration coordinates and nonholonomic velocity coordinates. The main motivation for redundant coordinates is tha...
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Identification of fractional-order systems is considered from an algebraic point of view. The approach presented allows for a simultaneous estimation of model parameters and fractional (or integer) orders from input a...
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Flatness-based trajectory planning for the distributed-parameter system consisting of a rigid body carried by multiple heavy ropes is discussed. The suspension points (controlled ends) of the ropes are assumed to be f...
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Invariant feedback design for nonlinear systems in state representation with Lie symmetries is considered. Existing results regarding invariant control design based on (differential) invariants of the admitted symmetr...
Invariant feedback design for nonlinear systems in state representation with Lie symmetries is considered. Existing results regarding invariant control design based on (differential) invariants of the admitted symmetry group via exact input-output linearization are extended to the backstepping algorithm for systems in feedback form. Based on invariant errors obtained by normalization an approach for the design of set-point invariant feedback is proposed. Its application is demonstrated using the control of a predator-prey bioreactor as an example.
The method of signal injection is investigated for position estimation of proportional solenoid valves. A simple observer is proposed to estimate a position-dependent parameter, i.e. the eddy current resistance, from ...
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We present a simple and effective way to account for non-convex costs and constraints in state feedback synthesis, and an interpretation for the variables in which state feedback synthesis is typically convex. We achi...
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A model for a quadrotor helicopter, its flatness-based parameterization, and its control are investigated. The model is transformed by expressing the configuration in terms of a reference trajectory and the deviation ...
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A model for a quadrotor helicopter, its flatness-based parameterization, and its control are investigated. The model is transformed by expressing the configuration in terms of a reference trajectory and the deviation from the latter. A flat output for the error system is introduced. A dynamic and a quasi-static feedback for asymptotic stabilization of reference trajectories are derived. The approach avoids introducing artificial singularities and provides the possibility for tracking “acrobatic” trajectories. A simulation result with the quadrotor flying a loop is shown.
Gauss’s principle of least constraint is used to derive equations of motion. The principle is then used to motivate a template for the closed loop of the (tracking) controlled system. The control law arises from mini...
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Gauss’s principle of least constraint is used to derive equations of motion. The principle is then used to motivate a template for the closed loop of the (tracking) controlled system. The control law arises from minimization of the distance between the controlled model and the template in the sense of least constraint. The control template is derived and analysed for the example of a free rigid body. This leads to quite natural formulations of its controlled inertia, damping and stiffness. This template is then used to compute a controller for a quadcopter, an underactuated system. A simulation result for an aerobatic maneuver demonstrates quite good performance of the proposed controller even though there is no formal proof of stability.
Observer-based self sensing for digital (on–off) single-coil solenoid valves is investigated. Self sensing refers to the case where merely the driving signals used to energize the actuator (voltage and coil current) ...
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The Lagrange formalism for deriving equations of motion for lumped mechanical systems is reviewed. When dealing with a con_guration space that is not isomorphic to Rn, the choice of generalized coordinates is local an...
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The Lagrange formalism for deriving equations of motion for lumped mechanical systems is reviewed. When dealing with a con_guration space that is not isomorphic to Rn, the choice of generalized coordinates is local and may result in awkward expressions. It is shown how redundant coordinates can lead to more convenient global expressions.
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