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Building hybrid observers for complex dynamic systems using model abstractions 1

2nd International Workshop on Hybrid systems: Computation and Control, HSCC 1999

作者： Mosterman, Pieter J. Biswas, Gautam Institute of Robotics and System Dynamics DLR Oberpfaffenhofen P.O. Box 1116 WesslingD-82230 Germany Knowledge Systems Laboratory Department of Computer Science Stanford University StanfordCA94305 United States Department of Computer Science Vanderbilt University NashvilleTN United States

ISBN: (数字)9783540489832

ISBN: (纸本)3540657347

Controllers for embedded dynamic systems require models with continuous behavior evolution and discrete configuration changes. These changes may cause fast continuous transients in state variables. Time scale and parameter abstractions simplify the analysis of these transients, causing discontinuities in the state variables. The two abstraction types have a very different impact on the analysis of system behavior. We have developed a systematic modeling approach that introduces formal semantics for behavior generation. This paper discusses the implementation of this scheme in a hybrid observer designed to track embedded system behavior. The resultant observer is based on piecewise simpler continuous models with mode transitions defined between them. Actual mode transitions in the system are provided by a digital controller and directly obtained from measuring physical variables. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Embedded systems

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Indefinite sign Riccati theory for descriptor systems

Indefinite sign Riccati theory for descriptor systems

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European Control Conference (ECC)

作者： V. Ionescu C. Oară Faculty of Automatic Control and Computers University Polytechnica Bucharest Bucharest Romania DLR-Oherpfaffenhofen Institute for Robotics and System Dynamics D-82239 Wessling Germany

We present a general Riccati theory for systems in descriptor form considered under the weakest possible assumptions imposed on the coefficent matrices. A Riccati-like equation of descriptor form is introduced and its stabilizing solution is characterized in terms of the associated extended Hamiltonian pencil (EHP) whilst the computation of such a solution is reduced to solving a generalized eigenvalue problem for a singular EHP. The results exposed in the paper are generalizations to the game-theoretic (sign indefinite) and singular cases of the (positivity) Riccati theory developed by several authors in the framework of descriptor systems. Possible applications range from various nonstandard and J-spectral factorizations to H 2 and H ∞ control of descriptor systems.

关键词： Riccati equations Eigenvalues and eigenfunctions Xenon Postal services Games Standards Manganese

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Design and flight testing of nonlinear autoflight control laws

AIAA Guidance, Navigation, and Control Conference 2012

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AIAA Guidance, Navigation, and Control Conference 2012 2012年

作者： Lombaerts, T.J.J. Looye, G.H.N. Institute of Robotics and Mechatronics Department of System Dynamics and Control German Aerospace Center DLR Münchner Straße 20 82234 Weßling Germany AIAA United States

ISBN: (纸本)9781600869389

This paper describes the design of an autoflight controller, based upon nonlinear model- based control laws. These control laws include the previously developed concept of Pseudo Control Hedging (PCH). This PCH algorithm adapts the reference model for the system output in case of unachievable commands due to control input saturation. This control algorithm has been applied on a high fidelity simulation model of the VFW-614 ATTAS (Advanced Technologies Testing Aircraft system) laboratory aircraft, where its beneficial influence has been illustrated. Test flights have been performed with ATTAS to evaluate the flight control technique in a relevant environment. © 2012 by Thomas Lombaerts and Gertjan Looye, German Aerospace Center DLR. Published by the American institute of Aeronautics and Astronautics, Inc.

关键词： Control theory

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The DLR Moon-Mars Test Site for Robotic Planetary Exploration

The DLR Moon-Mars Test Site for Robotic Planetary Exploratio...

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Space robotics (iSpaRo), International Conference on

作者： Martin Görner Jennifer Cebulsky Andreas Dömel Maximilian Durner Riccardo Giubilato Moritz Kuhne Marcus G. Müller Kristin Lakatos Peter Lehner Roy Lichtenheldt Bernhard Rebele Mattias Roser Ryo Sakagami Yunis Scheeler Martin J. Schuster Manuel Schütt Wolfgang Stürzl Mallikarjuna Vayugundla Armin Wedler Institute of Robotics and Mechatronics German Aerospace Center (DLR) BL9 Landscape Architects Munich Germany Institute of System Dynamics and Control German Aerospace Center (DLR)

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

Building robots for planetary exploration missions requires intensive testing throughout all phases of the design process. Especially, during hard- and software development as well as mission training the process benefits of easy-to-access test sites that offer realistic conditions. For this purpose we have built the 1500 m 2 DLR Moon-Mars test site in Oberpfaffenhofen, Germany. The facility provides a large variety of geological formations and ground substrates on a compact terrain as well as a rich set of power and network connections. As a unique feature of the outdoor test site, we prepared a dedicated link to the German Space Operations Center that enables telerobotic experiments from ISS. Furthermore, we provide an optical tracking system for ground truth measurement and control. We describe the design and construction process of the test site and present an overview of its features. Three experiments with our robots LRU1, LRU2 and the Scout rover regarding autonomous navigation and mapping, autonomous manipulation and sampling as well as advanced mobility tests demonstrate the usage of the test site.

关键词： Training Industries Service robots Space missions Optical variables measurement Optical fiber communication Robots Substrates Telerobotics Software development management

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Pseudo control hedging and its application for safe flight envelope protection

Pseudo control hedging and its application for safe flight e...

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AIAA Guidance, Navigation, and Control Conference

作者： Lombaerts, T.J.J. Looye, G.H.N. Chu, Q.P. Mulder, J.A. Delft University of Technology P.O. Box 5058 2600 GB Delft Netherlands German Aerospace Center DLR Münchner Straße 20 82234 Wessling Germany Control and Simulation Division Faculty of Aerospace Engineering Germany Institute of Robotics and Mechatronics Department of System Dynamics and Control Germany

ISBN: (纸本)9781600869624

This paper describes how the previously developed concept of Pseudo Control Hedging (PCH) can be integrated in a Fault Tolerant Flight Controller (FTFC) as a safe flight envelope protection system of the first degree. This PCH algorithm adapts the reference model for the system output in case of unachievable commands due to control input saturation. As an example, this algorithm has been applied in the pitch rate and velocity control loops of a high fidelity Boeing 747 simulation model where its beneficial influence has been illustrated. The nonlinear adaptive control law used for this example is a triple layered nonlinear dynamic inversion algorithm, based upon the concept of time scale separation. Copyright © 2010 by the authors.

关键词： Flight envelopes

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Accuracy enhancing methods for the frequency-weighted balancing related model reduction

Accuracy enhancing methods for the frequency-weighted balanc...

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IEEE Conference on Decision and Control

作者： A. Varga B.D.O. Anderson Institute of Robotics and System Dynamics German AeroSpace Center DLR-Oberpfaffenhofen Wessling Germany Information Sciences and Engineering Australian National University Canberra ACT Australia

In this paper we develop computational techniques with enhanced accuracy for two frequency-weighted model reduction approaches, namely, balanced truncation, and singular perturbation approximation. New stability-enforcing choices of the frequency-weighted grammians can guarantee the stability of reduced models for two-sided frequency weights. Several numerical examples show the effectiveness of the new approximation techniques.

关键词： Frequency Reduced order systems Stability Robustness Bismuth Robots Aerodynamics Reliability engineering Australia Microcomputers

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Torque maximization for permanent magnet synchronous motors

Torque maximization for permanent magnet synchronous motors

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European Control Conference (ECC)

作者： A. Verl M. Bodson Institute for Robotics and System Dynamics German Aerospace Research Establishment (DLR) D-82234 Wessling Germany University of Utah Salt Lake City UT US

The paper discusses the problem of maximizing the torque of permanent magnet synchronous motors in the presence of voltage and current constraints. Formulas are given that are suitable to operation with voltage and current source inverters and to real-time computation. Generally, the available torque is limited by current constraints at low speeds and by voltage constraints at high speeds, but there is also often an intermediate range of speeds where both the voltage and the current constraints are active. The paper specifies how optimal operation can be achieved in all three ranges, and at what speeds the optimal operation transitions from one mode to another. A numerical example for a typical permanent magnet stepper motor is discussed to illustrate the contributions of the paper.

关键词： Torque Permanent magnet motors Synchronous motors Mathematical model Induction motors DC motors Lead

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MMX Rover Locomotion Subsystem - Development and Testing towards the Flight Model

MMX Rover Locomotion Subsystem - Development and Testing tow...

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IEEE Conference on Aerospace

作者： Stefan Barthelmes Thomas Bahls Ralph Bayer Wieland Bertleff Markus Bihler Fabian Buse Maxime Chalon Franz Hacker Roman Holderried Viktor Langofer Roy Lichtenheldt Sascha Moser Kaname Sasaki Hans-Jü rgen Sedlmayr Juliane Skibbe Leon Stubbig Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control WeBling German Aerospace Center (DLR) Institute of Robotics and Mechatronics WeBling German Aerospace Center (DLR) Institute of Space Systems Bremen

ISBN: (数字)9781665437608

ISBN: (纸本)9781665437615

Wheeled rovers have been successfully used as mobile landers on Mars and Moon and more such missions are in the planning. For the Martian Moon eXploration (MMX) mission of the Japan Aerospace Exploration Agency (JAXA), such a wheeled rover will be used on the Marsian Moon Phobos. This is the first rover that will be used under such low gravity, called milli-g, which imposes many challenges to the design of the locomotion subsystem (LSS). The LSS is used for unfolding, standing up, driving, aligning and lowering the rover on Phobos. It is a entirely new developed highly-integrated mechatronic system that is specifically designed for Phobos. Since the Phase A concept of the LSS, which was presented two years ago [1], a lot of testing, optimization and design improvements have been done. Following the tight mission schedule, the LSS qualification and flight models (QM and FM) assembly has started in Summer 2021. In this work, the final FM design is presented together with selected test and optimization results that led to the final state. More specifically, advances in the mechanics, electronics, thermal, sensor, firmware and software design are presented. The LSS QM and FM will undergo a comprehensive qualification and acceptance testing campaign, respectively, in the first half of 2022 before the FM will be integrated into the rover.

关键词： Space vehicles Mars Frequency modulation Mechatronics Moon Writing Thermal sensors

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Chatter free variable structure perturbation estimator on the torque control of flexible robot joints with disturbance and parametric uncertainties

Chatter free variable structure perturbation estimator on th...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： Jingxin Shi Yu-Shen Lu Institute for Robotics and System Dynamics German AeroSpace Research Establishment (DLR) Wessling Germany Department of Power Mechanical Engineering National Tsing Hua University Hsinchu Taiwan

ISBN: (纸本)0780327756

A perturbation estimator using the theory of variable-structure systems is designed to enhance the robustness of a pole-placement controller design in the control of joint torque. In its ideal form, the pole-placement design using feedback-linearization technique achieves desired performance in nonlinear time-varying systems. However, its performance deteriorates rapidly with the presence of disturbance and parametric uncertainties, referred to as perturbation. The estimate generated by the proposed perturbation estimator is incorporated as an additional input to rectify the uncertainties in the nominal control model of the pole-placement design. The proposed scheme requires neither the measurement of the time derivative of state vector nor the precise knowledge of system parameters, but rather the bounds on system perturbation. Chatter and the adverse effects of conservative bounds on system perturbation, often encountered in conventional sliding-mode control (SMC), are alleviated for the controlled plant by this scheme.

关键词： Torque control Robots Sliding mode control Control systems Vectors Time measurement Cutoff frequency Uncertainty Aerodynamics Aerospace control

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Dynamic modeling and hardware-in-the-loop simulation design for railway vehicle with active lateral suspension system

Dynamic modeling and hardware-in-the-loop simulation design ...

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The sixth Asian Conference on Multibody dynamics(ACMD 2012)

作者： Moon K.Kwak Dong-Ho Yang Jae-Ha Lee Won-Hee You Dept.of Mech. Robotics and Energy Eng.Dongguk University Vehicle Dynamics and Propulsion System Research Dept.Korea Railroad Research Institute

In the field of railway technology,there have been consistent requirements on riding comfort and running *** conventional suspension system is no longer effective in fulfilling customers' *** engine mount or active suspension system introduced into automobiles have been applied to elevator active vibration control and railway *** so-called ALS(active lateral suspension) for train has been exploited by many research institutes for commercial *** ALS hardware consists of either active or semi-active *** mechatronics system for the ALS consists of sensors,actuators and controller.

关键词： Dynamic modeling and hardware-in-the-loop simulation design for railway vehicle with active lateral suspension system simulation

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