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European control Conference (ECC)

作者： Soumya Ranjan Sahoo Ravi N Banavar Systems and Control Engineering IIT Bombay Mumbai India Faculty at Systems and Control Engineering IIT Bombay Mumbai India

ISBN: (纸本)9781479947287

Much of the work in the area of attitude synchronization of multiple satellites is focused on satellites with external actuators. In this paper we focus on satellites that are actuated by internal actuation mechanisms, like momentum wheels or rotors. The distinguishing aspect of the internal actuation case is that the dynamics are described on a level set of the angular momentum map. We propose a control law to achieve asymptotic attitude synchronization of multiple satellites actuated by internal rotors. The sensing strategy for the satellites is as follows: The first satellite has information about the desired attitude. All other satellites have relative attitude information with respect to their immediate neighbours. The control law is designed using the notion of potential energy shaping that rests on the use of modified trace functions.

关键词： Satellites Attitude control Synchronization Rotors Angular velocity Vectors Lyapunov methods

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Lyapunov Function Based Steering Law for Generalized Voronoi Diagram (GVD) Construction by a Mobile Robot

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IFAC Proceedings Volumes 2014年第1期47卷 103-108页

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

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.

关键词： Autonomous mobile robots Navigation Path planning Robotics

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Stability of switched linear systems: New results

Stability of switched linear systems: New results

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European control Conference (ECC)

作者： Atreyee Kundu Debasish Chatterjee Systems and Control Engineering IIT- Bombay Mumbai India

ISBN: (纸本)9781479947287

We characterize a new class of switching signals under which global asymptotic stability of a continuous-time switched linear system is guaranteed. Given a family of systems, possibly containing unstable dynamics, our characterization of stabilizing switching signals involves the asymptotic behaviour of the switching frequency, fraction of activation of the constituent systems, and admissible transitions among them. Our work extends prior results both in scope and applicability.

关键词： Switches Asymptotic stability Silicon Switched systems Linear systems Numerical stability Switching frequency

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A Guidance Law for a Mobile Robot for Coverage Applications: A Limited Information Approach

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IFAC Proceedings Volumes 2014年第1期47卷 437-442页

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

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.

关键词： Coverage problems minimal information autonomous mobile robots unicycle model root locus

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Robust controller Design for Discrete Fractional Order System: A Disturbance Observer based Approach

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IFAC Proceedings Volumes 2014年第1期47卷 558-563页

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

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.

关键词： State feedback stability and stabilization disturbance observer

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Variable Gain Super Twisting controller for the Position Stabilization of Stewart Platform

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IFAC Proceedings Volumes 2014年第1期47卷 115-121页

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

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.

关键词： Stewart platform super twisting observer variable gain super twisting controller

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Towards Optimal Computation of Energy Optimal Trajectory for Mobile Robots

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IFAC Proceedings Volumes 2014年第1期47卷 82-87页

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

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.

关键词： Minimum energy trajectory Motion planning Autonomous robots Dubins path

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Sliding mode control for a class of underactuated systems using feedforward normal form: A slosh-container system

Sliding mode control for a class of underactuated systems us...

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International Workshop on Variable Structure systems, VSS

作者： Parth S Thakar B. Bandyopadhyay P. S. Gandhi Interdisciplinary Program in Systems and Control Engineering IIT Bombay Mumbai Maharashtra India Department of Mechanical Engineering IIT Bombay Mumbai Maharashtra India

This paper deals with the design of stable sliding mode control (SMC) for the underactuated slosh-container system using feedforward normal form. A nonlinear coordinate transformation is used to convert the system into so called feedforward normal like form to decouple the control input appearing in one of the degree of freedom (DOF). This results in the design simplicity for the sliding mode control as well as the equivalent control and reduced order system derivation and its stability analysis. The range of surface parameters to provide the stable sliding motion for the system using proposed scheme, is also large compared to our earlier results. Simulation results are also presented to illustrate the proposed method.

关键词： Mathematical model Containers Equations Feedforward neural networks Vehicle dynamics Liquids Sliding mode control

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

Modeling neutron dynamics in nuclear reactor using fractiona...

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International Conference on Simulation and Modeling Methodologies, Technologies and Applications (SIMULTECH)

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

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.

关键词： Inductors Mathematical model Neutrons Analytical models Numerical models Kinetic theory Differential equations

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Higher Order Sliding Mode control by Keeping a 2-Sliding Constraint

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12th IEEE International Workshop on Variable Structure System, VSS 2012

作者： Trivedi, Prasiddh Bandyopadhyay, Bijnan Systems and Control Engineering IIT Bombay India

ISBN: (纸本)9783642369858

This article investigates a new algorithm for higher order sliding mode control. The proposed control law keeps a constraint in 2-sliding mode such that the finite time stabilization of the chain of integrators is achieved. The proposed switching function has relative degree two with respect to the input and a second order sliding controller is used. The twisting controller is used for achieving finite time convergent 2-sliding mode to the switching manifold. The switching manifold is designed to provide finite time convergence of the integrator chain. The fractional powers in the switching function are carefully designed to prevent the unboundedness or singularity arising because of the switching constraint being kept at zero. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Switching functions

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