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3rd International Conference on Advances in control and Optimization of Dynamical systems, ACODS 2014

作者： Daingade, Sangeeta Sinha, Arpita Systems and Control Engineering IIT Bombay Mumbai India

ISBN: (纸本)9783902823601

This paper presents a cyclic pursuit based strategy for monitoring a stationary target with multiple autonomous vehicles. The strategy needs only bearing angle information of the target and that of only one of the neighbor vehicle. We have considered simple kinematic model for each vehicle. With the proposed control law, at equilibrium the vehicles get into a rigid polygonal formation which rotates around the target. The stability of equilibrium formations is analyzed using linearization technique. The effectiveness of the proposed strategy is demonstrated through simulation. © 2014 IFAC.

关键词： Vehicles

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Relative attitude trajectory tracking using line of sight measurements under spacecraft position dynamics

Relative attitude trajectory tracking using line of sight me...

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3rd International Conference on Advances in control and Optimization of Dynamical systems, ACODS 2014

作者： Warier, Rakesh R. Sinha, Arpita Sukumar, Srikant Dept. of Systems and Control Engineering IIT Bombay India

ISBN: (纸本)9783902823601

This paper considers the problem of controlling relative attitude between two spacecrafts, so as to follow a smoothly time varying desired relative attitude trajectory. The spacecrafts are modelled as rigid bodies and attitudes are represented in non-linear state space of SO(3). The attitude control law proposed does not need relative attitude measurement and is determined from line of sight (LOS) unit vectors measured by spacecrafts to each other and from each spacecraft to a common object in respective body fixed frames. Unlike existing control laws using LOS measurements, positions of spacecrafts are not considered fixed. The state feedback laws proposed in this work guarantee almost global asymptotic tracking of the desired time varying attitude trajectory, when positions of spacecrafts do not become collinear or coincide. The simulation results of the proposed control law are also shown. © 2014 IFAC.

关键词： Spacecraft

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Lyapunov function based steering law for Generalized Voronoi Diagram (GVD) construction by a mobile robot

Lyapunov function based steering law for Generalized Voronoi...

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3rd International Conference on Advances in control and Optimization of Dynamical systems, ACODS 2014

作者： Arunkumar, G.K. Sukumar, Srikant Vachhani, Leena Interdisciplinary Programme in Systems and Control Engineering IIT Bombay Mumbai-400 076 India

ISBN: (纸本)9783902823601

Motion planning of an autonomous robot in an unknown environment is a challenging task. The prerequisite of any motion planning task is collision avoidance. This paper aims on designing a steering control-law for constructing Generalized Voronoi Diagram (GVD) of an unknown environment. The GVD is a roadmap which offers a maximum clearance path and hence a reliable method to avoid collisions. The GVD comprises of edges and nodes. The GVD node is considered a primary feature of topological localization. This paper proposes a modification in the steering control law for smooth tracing of GVD edge using curvature information at closest points on the obstacle. The proposed modification leads the mobile robot to reach the unknown GVD node. This modification is necessary without which the robot leaves a GVD edge and traces another GVD edge bypassing the GVD node. The modification is suggested based on the geometry of the GVD construction. The proposed steering law is verified using simulations. The simulation result shows that the mobile robot reaches the GVD node with an accuracy of ±0.001 unit distance. © 2014 IFAC.

关键词： Mobile robots

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A guidance law for a mobile robot for coverage applications: A limited information approach

A guidance law for a mobile robot for coverage applications:...

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3rd International Conference on Advances in control and Optimization of Dynamical systems, ACODS 2014

作者： Tripathy, Twinkle Sinha, Arpita Interdisciplinary Programme in Systems and Control Engineering IIT Bombay Mumbai-400 076 India

ISBN: (纸本)9783902823601

In this paper a guidance law has been proposed to solve applications related to coverage of a pre-defined area using a mobile robot. In many situations, it may not be possible to measure all the information due to practical limitations or from computational point of view. So, we have used only range information to solve the above specified problem. The target point is considered to be stationary in this particular case. Now, for any initial condition for which the velocity vector of the robot is perpendicular to the line of sight with respect to the stationary target, the autonomous agent displays interesting behaviours which have been analysed theoretically. All the analytical results obtained here have been validated through MATLAB simulations also. © 2014 IFAC.

关键词： Mobile robots

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Robust controller design for discrete fractional order system: A disturbance observer based approach

Robust controller design for discrete fractional order syste...

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3rd International Conference on Advances in control and Optimization of Dynamical systems, ACODS 2014

作者： Kamal, Shyam Bandyopadhyay, Bijnan Interdisciplinary Programme in Systems and Control Engineering IIT Bombay Mumbai-400 076 India

ISBN: (纸本)9783902823601

This paper, investigates the one of open problems of robust controller design for discrete fractional order system. For achieving the specified goal a disturbance observer is constructed based on full state information. After that an extra compensator based on theory of disturbance observer is added to the classical state feedback. It is also shown that after applying the proposed controller closed loop system would become robust against disturbance as the estimation error gets reduced. Effectiveness of the proposed scheme is illustrated by the simulation results. © 2014 IFAC.

关键词： State feedback

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Variable gain super twisting controller for the position stabilization of Stewart platform

Variable gain super twisting controller for the position sta...

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3rd International Conference on Advances in control and Optimization of Dynamical systems, ACODS 2014

作者： Ramesh Kumar, P. Bandyopadhyay, Bijnan Interdisciplinary Programme in Systems and Control Engineering IIT Bombay Mumbai-400 076 India

ISBN: (纸本)9783902823601

The Stewart platform manipulator is a 6 degrees of freedom parallel robot with a superior performance over serial robots. A variable gain super twisting algorithm ensuring global finite time convergence to the desired sliding surface is proposed for the position stabilization of the Stewart platform. For a given position of the platform, the leg lengths are estimated using inverse kinematics and corresponding leg velocities are obtained using a super twisting observer. The desired position of the platform is achieved using the proposed controller even in the presence of matched disturbances. The effectiveness of the proposed controller has been proved with the simulation results. © 2014 IFAC.

关键词： controllers

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Towards optimal computation of energy optimal trajectory for mobile robots

Towards optimal computation of energy optimal trajectory for...

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3rd International Conference on Advances in control and Optimization of Dynamical systems, ACODS 2014

作者： Chaudhari, Manas Vachhani, Leena Banerjee, Rangan Department of Energy Science and Engineering IIT Bombay Mumbai 400 076 India Systems and Control Engg. Group IIT Bombay 400 076 India

ISBN: (纸本)9783902823601

The paper proposes a method for determining energy optimal trajectory from source position to goal position for differential drive robots. Energy consumption depends on the velocity profile of the generated trajectory. The proposed method makes use of Dubins path of optimum turning radius to plan the trajectory between two waypoints. The results are compared with other methods in terms of energy consumption for the generated trajectories using simulation. The proposed method computes energy optimal trajectory in linear time complexity with respect to the number of waypoints. © 2014 IFAC.

关键词： Energy utilization

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Target Centric Cyclic Pursuit using Bearing Angle Measurements Only

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IFAC Proceedings Volumes 2014年第1期47卷 491-496页

作者： Sangeeta Daingade Arpita Sinha Systems and Control Engineering IIT Bombay Mumbai India

关键词： Target monitoring Multi - vehicle system Bearing only measurements Target centric cyclic pursuit

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Modeling neutron dynamics in nuclear reactor using fractional-order point reactor kinetics model with adiabatic temperature feedback 4

Modeling neutron dynamics in nuclear reactor using fractiona...

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4th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, SIMULTECH 2014

作者： Vyawahare, Vishwesh A. Nataraj, P.S.V. Department of Electronics Engineering Ramrao Adik Institute of Technology Navi Mumbai India IDP in Systems and Control Engineering Indian Institute of Technology Bombay Powai Mumbai India

ISBN: (纸本)9789897580383

This paper deals with the development and analysis of fractional-order (FO) point reactor kinetics (FPRK) model with reactivity feedback for a nuclear reactor. Incorporation of adiabatic temperature feedback of reactivity makes this model nonlinear. It basically forms a system of coupled, nonlinear ordinary differential equations. The nonlinear subprompt critical FPRK model is developed and analyzed in detail. Fundamental motivation for this model is the fact that neutron transport inside the core of a reactor is truly a subdiffusion. The work presented here analyzes the effect of temperature feedback on the neutron concentration dynamics inside reactor core which is modeled using fractional differential equations. The system of nonlinear differential equations is solved numerically. The analysis clearly establishes the fact that the proposed model is 'stable' in the sense that it predicts self-limitting power excursions. The model presented in this paper constitutes an important step in the development of fractional-order model for a nuclear reactor, which can be used to achieve better control and operation. © 2014 SciTePress. All rights reserved.

关键词： Nonlinear equations

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Relative Attitude Trajectory Tracking Using Line Of Sight Measurements Under Spacecraft Position Dynamics

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IFAC Proceedings Volumes 2014年第1期47卷 455-461页

作者： Rakesh R. Warier Arpita Sinha Srikant Sukumar Dept. of Systems and Control Engineering IIT Bombay India

关键词： Multi-agent systems Distributed systems Nonlinear systems and control

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