In this paper the 3-Dimensional Overhead Crane is the subject of study. The note includes the Euler-Lagrange equations of a 5 degrees of freedom, 5DOF, Overhead Crane and the design of a Second Order Sliding Mode Cont...
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ISBN:
(纸本)9781467320658
In this paper the 3-Dimensional Overhead Crane is the subject of study. The note includes the Euler-Lagrange equations of a 5 degrees of freedom, 5DOF, Overhead Crane and the design of a Second Order Sliding Mode controller in order to ensure the precise load transfer during the load movement despite of model uncertainties and un-modeled dynamics. Moreover, the system is under-actuated and 5DOF should be controlled with 3 control actions. The stability analysis is developed based on Lyapunov second method ensuring the finite time convergence to the desired sliding output. Simulations and Experimental results are presented.
In this paper, a magnetic position sensor for a magnetic guidance system of automated ground vehicles using linear sections of magnetic fields is proposed. In previous research, the ratio method using vertical versus ...
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ISBN:
(纸本)9781467322478
In this paper, a magnetic position sensor for a magnetic guidance system of automated ground vehicles using linear sections of magnetic fields is proposed. In previous research, the ratio method using vertical versus lateral field was applied to the magnetic position sensor. A drawback of this method is that there is a singularity problem in calculating the ratio as the lateral component approached zero. In this paper, instead of the ratio calculation, the linear method using the equation between vertical magnetic field and the position of a marker is proposed. Due to the linear equation, the proposed method is very robust when noise and disturbance are added to the sensing signal. Since the linear equation is simple, the calculation is fast so that the proposed method is better to establish a real time system. The performance of the proposed method is tested by the experiment using the developed magnetic sensor.
作者：
Marko BunicStjepan BogdanUniversity of Zagreb
Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia
This paper presents the extension of the previously proposed method for multi-agent formation control based on potential function. The method derived for 2D space is extended to 3D. It has been shown that the control ...
This paper presents the extension of the previously proposed method for multi-agent formation control based on potential function. The method derived for 2D space is extended to 3D. It has been shown that the control algorithm keeps all the properties of the original scheme in case of multi-agent formation moving in 3D. An adaptation mechanism that assures avoidance of unwanted stable equilibria, used in 2D, is implemented in the same form for 3D formations. The obtained simulation results demonstrate stable behavior of the system for various sets of parameters - the desired 3D formation is reached in finite time and maintained during trajectory execution.
The DC motor speed control is commonly used in several robotic applications. Thus the controller design for the DC motor speed control is a compulsory to optimize the performance of the motor towards the system design...
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This paper suggests a trajectory generation method using convolution operation. The proposed trajectory method always generates differentiable S-curve shape regardless of irregular time intervals, even when a new targ...
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This paper concerns a new stability condition for polynomial fuzzy system by introducing polynomial fuzzy Lyapunov function and slack matrix. Stability condition for polynomial fuzzy system is usually derived by commo...
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ISBN:
(纸本)9781467315074
This paper concerns a new stability condition for polynomial fuzzy system by introducing polynomial fuzzy Lyapunov function and slack matrix. Stability condition for polynomial fuzzy system is usually derived by common quadratic polynomial Lyapunov function. However this method results the conservative problem. To relax the conservative result, various relaxing methods which are introduced in T-S fuzzy system case are converted to polynomial fuzzy system. With this line, this paper adapts fuzzy Lyapunov function and extends it to polynomial fuzzy Lyapunov function. It is the extended version of existing fuzzy Lyapunov function which is replaced constant matrices with polynomial one. Furthermore, by adding the slack matrix to the proposed stability condition, this condition is further relaxed. Finally, these results will be proved by numerical example.
P systems (PSs) are powerful computing models based on the structure of a biological cell and on the way chemicals interact in complex biochemical reactions which take place in various compartments (or membranes) of t...
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This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed compl...
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Modelling and control of rigid-flexible multibody systems is studied in this paper. As a specified application, a space robotic system with flexible appendages during a cooperative object manipulation task is consider...
Modelling and control of rigid-flexible multibody systems is studied in this paper. As a specified application, a space robotic system with flexible appendages during a cooperative object manipulation task is considered. This robotic system necessitates delicate force exertion by several end-effectors to move an object along a desired path. During such maneuvers, flexible appendages like solar panels may get stimulated and vibrate. This vibrating motion will cause some oscillatory disturbing forces on the spacecraft, which in turn produces error in the motion of the end-effectors of the cooperative manipulating arms. In addition, vibration control of these flexible members to protect them from fracture is another challenging problem in an object manipulation task for the stated systems. Therefore, the multiple impedance control algorithm is extended to perform an object manipulation task by such complicated rigid-flexible multibody systems. This extension in the control algorithm considers the modification term which compensates the disturbing forces due to vibrating motion of flexible appendages. Finally, a space free-flying robotic system which contains two 2-DOF planar cooperative manipulators, appended with two highly flexible solar panels, is simulated. Obtained results reveal the merits of the developed model-based controller which will be discussed.
Recently, a variety of robotic systems have been studied under the umbrella term of modular reconfigurable robotics [7,6]. Unlike conventional fixedmorphology robots, whose performance is usually confined by the opera...
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