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In-flight calibration of attitude determination systems for information mini-satellites?

In-flight calibration of attitude determination systems for ...

引用

19th IFAC Symposium on automatic control in Aerospace, ACA 2013

作者： Somov, Ye. Butyrin, S. Siguerdidjane, H. Hajiyev, Ch. Fedosov, V. Samara State Technical University Department of Guidance Navigation and Control 244 Molodogvardeyskaya Str. Samera 443100 Russia Ecole Superieure d'Electricite Automatic Control Department Gif-sur-Yvette 91192 France Istanbul Technical University Aeronautics and Astronautics Faculty Maslak Istanbul 34469 Turkey Czech Space Engineering Institute 17 Santosky Str. 15000 Prague 5 Czech Republic

ISBN: (纸本)9783902823465

Contemporary information mini-satellites have general mass up to 500 kg and are placed onto the orbit altitudes from 500 up to 1500 km. For such spacecraft some principle problems on precise attitude determination and in-ight calibration are considered and elaborated methods are presented for their solving. Original multiple discrete algorithms for filtering, integration and calibration of a strapped-down inertial navigation system for precise determining the spacecraft attitude, are presented. This system contains electrostatic microaccelerometer, an inertial measurement unit based on the gyro sensors, an astronomical system based on star trackers, multi-head Sun sensor and magnetic sensor, the that are fixed to the spacecraft body. © IFAC.

关键词： Calibration

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. Computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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On Structured Realizability and Stabilizability of Linear systems

On Structured Realizability and Stabilizability of Linear Sy...

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American control Conference

作者： Laurent Lessard Maxim Kristalny Anders Rantzer Department of Mechanical Engineering at the University of California Berkeley Berkeley CA 94720 USA Faculty of Mechanical Engineering Technion Israel Institute of Technology Haifa 32000 Israel Department of Automatic Control at Lund University Lund Sweden

ISBN: (纸本)9781479901777

We study the notion of structured realizability for linear systems defined over graphs. A stabilizable and detectable realization is structured if the state-space matrices inherit the sparsity pattern of the adjacency matrix of the associated graph. In this paper, we demonstrate that not every structured transfer matrix has a structured realization and we reveal the practical meaning of this fact. We also uncover a close connection between the structured realizability of a plant and whether the plant can be stabilized by a structured controller. In particular, we show that a structured stabilizing controller can only exist when the plant admits a structured realization. Finally, we give a parameterization of all structured stabilizing controllers and show that they always have structured realizations.

关键词： Linear systems associated plant Linear system plants stabilizability controllers transfer matrix

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Constrained decomposition based control approach for linear parameter varying systems

Constrained decomposition based control approach for linear ...

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European control Conference (ECC)

作者： H.-N. Nguyen P.-O. Gutman S. Olaru Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology Haifa Israel SUPELEC Systems Sciences (E3S) - Automatic Control Department Gif sur Yvette France

ISBN: (纸本)9781479901890

Considering a constrained discrete-time linear time-varying system, this paper proposes a novel approach which aims at achieving high performance and enlarging the domain of attraction with respect to any particular linear controller. The main idea of the paper is to use a linear decomposition principle together with a parameter dependent Lyapunov function. At each time instant a quadratic programming problem is solved on-line. Proofs of recursive feasibility and asymptotic stability are given.

关键词： Optimization Equations Matrix decomposition Asymptotic stability Linear matrix inequalities Lyapunov methods Closed loop systems

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Screw theory based-design and tracking control of an endoscopic parallel manipulator for laparoscopic surgery

Screw theory based-design and tracking control of an endosco...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Khalil Ibrahim Ahmed Ramadan Mohamed Fanni Yo Kobayashi Ahmed Abo-Ismail Masakatus G. Fujie Egypt-Japan University Technology Alexandria Egypt Computers Engineering and Automatic Control Department Tanta University Tanta Egypt Prod. Engineering & Mechanical Design Mansoura University Mansoura Egypt The faculty of Science and Engineering Waseda University Tokyo Japan Egypt-Japan University of Science and Technology Alexandria Egypt

ISBN: (纸本)9781467356404

This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopic surgical manipulator. The proposed mechanism, 2-PUU_2-PUS, is designed based on the parallel virtual chain concept and screw theory. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS™ software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB softwares. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error.

关键词： Joints Mathematical model Solid modeling Kinematics Manipulator dynamics Surgery

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Structured coprime factorizations description of Linear and Time-Invariant networks

Structured coprime factorizations description of Linear and ...

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IEEE Conference on Decision and control

作者： Şerban Săbau Cristian Oară Sean Warnick Ali Jadbabaie Stevens Institute of Technology Hoboken NJ US Faculty of the Automatic Control Dept. University “Politehnica” Bucharest Romania The Faculty of the Computer Science Department Brigham Young University Faculty of the Electrical and Systems Engineering Dept University of Pennsylvannia

In this paper we study state-space realizations of Linear and Time-Invariant (LTI) systems. Motivated by biochemical reaction networks, Gonçalves and Warnick have recently introduced the notion of a Dynamical Structure Functions (DSF), a particular factorization of the system's transfer function matrix that elucidates the interconnection structure in dependencies between manifest variables. We build onto this work by showing an intrinsic connection between a DSF and certain sparse left coprime factorizations. By establishing this link, we provide an interesting systems theoretic interpretation of sparsity patterns of coprime factors. In particular we show how the sparsity of these coprime factors allows for a given LTI system to be implemented as a network of LTI sub-systems. We examine possible applications in distributed control such as the design of a LTI controller that can be implemented over a network with a pre-specified topology.

关键词： Transfer functions Equations Indium phosphide Mathematical model Network topology Topology Electronic mail

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Methodology for identifying quadrotor parameters, attitude estimation and control

Methodology for identifying quadrotor parameters, attitude e...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： M. Elsamanty A. Khalifa M. Fanni A. Ramadan A. Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Production. Engineering & Mechanical Design Department Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467353199

This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship between the motor input Pulse Width Modulation (PWM) signal and the angular velocity, the thrust force, and drag moment of the rotors. A simple algorithm is implemented to an inertial measurement unit (IMU) for estimating the attitude and altitude of the quadrotor. Experimental set up is built to verify and test the accuracy of these proposed techniques. A controller is designed based on the feedback linearization method such that the quadrotor attitude can be stabilized. Finally, the experimental results show the effectiveness of the proposed techniques and the controller design.

关键词： Rotors Pulse width modulation Propellers Force Drag Angular velocity Assembly

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Second Order Sliding Mode control of an Overhead-Crane in the Presence of External Perturbations

Second Order Sliding Mode Control of an Overhead-Crane in th...

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IEEE Annual Conference on Decision and control

作者： Carlos Vazquez Leonid Fridman Joaquin Collado Department of Applied Physics and Electronics Umea University SE-901 87 Umea Sweden Department of Control Engineering and Robotics Engineering Faculty UNAM C.P. 04510 Mexico City Mexico The Department of Automatic Control CINVESTAV-IPN Av.IPN 2508 07360 Mexico City Mexico

ISBN: (纸本)9781467357159

An example of an Overhead Crane system subject to parametric and external perturbations is the topic of study. The note includes the design of a Second Order Sliding Mode controller in order to ensure the precise trajectory tracking for the actuated variable and at the same time the regulation of the under-actuated variable, despite of parametric perturbations, as well as matched and unmatched disturbances. Simulations verified the proposed methodology.

关键词： Variable structure systems perturbation Parametric fuzzy sliding mode controllers Note Taking presences trajectory tracking INCOMPATIBLE

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Improving micro-grid power quality using three-phase four-wire active power conditioners

Improving micro-grid power quality using three-phase four-wi...

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2012 16th International Conference on system Theory, control and Computing, ICSTCC 2012

作者： Balanuta, C. Vechiu, I. Gurguiatu, G. Dunarea de Jos University of Galati Faculty of Automatic Control Computers Electrical and Electronics Engineering Department of Automatic Control and Electrical Engineering Romania ESTIA-Recherche Technopole Izarbel 64210 Bidart France

ISBN: (纸本)9786068348483

In this paper is presented a comparative analysis between two power conditioners connected to a four-wire micro-grid. The first one was developed on a two levels voltage structure and the second one on a three-level voltage NPC structure (Neutral Point Clamped), both controlled by the same strategy. The main objective of the proposed strategy is to limit the disturbance produced by different loads. Another goal is to act as an interface between renewable energy sources and the micro-grid. In this study, about 25% of the power requested by the load comes from the renewable energy sources. The investigated systems have been implemented in Matlab / Simulink, in order to analyze the micro-grid harmonic level, the power factor and the voltage unbalance at the point of common coupling. © 2012 Dunarea de Jos University.

关键词： Electric power transmission networks

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Obstacle avoidance for trajectory tracking control of wheeled mobile robots

Obstacle avoidance for trajectory tracking control of wheele...

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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Solea, Razvan Cernega, Daniela Cristina Dunarea de Jos University of Galati Faculty of Automatic Control Computers Electrical and Electronics Engineering Romania

ISBN: (纸本)9783902661982

In this paper the authors investigated a new trajectory-tracking method for the wheeled mobile robots in the presence of static and dynamic obstacles. The model of steering and obstacle avoidance consists in a system of differential equations. The sensory perception is based on a laser range finder (LRF) system. The trajectory tracking control problem is solved using the sliding mode control. Simulation results are presented to verify the effectiveness of the proposed local navigational system in unknown environments with static and moving objects, corresponding to a flexible manufacturing system. © 2012 IFAC.

关键词： Mobile robots

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