Motion planning and stabilization of the inverted pendulum on a cart is a much studied problem in the control community. We focus our attention on asymptotically stabilizing a vertically upright flexible beam fixed on...
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Motion planning and stabilization of the inverted pendulum on a cart is a much studied problem in the control community. We focus our attention on asymptotically stabilizing a vertically upright flexible beam fixed on...
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Motion planning and stabilization of the inverted pendulum on a cart is a much studied problem in the control community. We focus our attention on asymptotically stabilizing a vertically upright flexible beam fixed on a moving cart. The flexibility of the beam is restricted only to the direction along the traverse of the cart. The control objective is to attenuate the effect of disturbances on the vertically upright profile of the beam. The control action available is the motion of the cart. By regulating this motion, we seek to regulate the shape of the beam. The problem presents a combination of a system described by a partial differential equation (PDE) and a cart modeled as an ordinary differential equation (ODE) as well as controller which we restrict to an ODE. We set our problem in the port controlled Hamiltonian framework. The interconnection of the flexible beam to the cart is viewed as a power conserving interconnection of an infinite dimensional system to a finite dimensional system. The energy Casimir method is employed to obtain the controller. In this method, we look for some constants of motion which are invariant of the choice of controller Hamiltonian. These Casimirs relate the controller states to the states of the system. We finally prove stability of the equilibrium configuration of the closed loop system.
Recent advances in small, low cost satellite technology has generated a renewed interest in formation flying missions. One challenging aspect of satellite formation flying missions is collision free navigation and con...
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ISBN:
(纸本)9781615679089
Recent advances in small, low cost satellite technology has generated a renewed interest in formation flying missions. One challenging aspect of satellite formation flying missions is collision free navigation and control. In this paper, novel robust control algorithm using Sliding Mode control is presented for a three-dimensional, high Earth orbit satellite formation scenario. The paper presents the comparison of results of three types of Sliding Mode controllers (SMC): the first one is a tan-hyperbolic SMC, the second one is a constant plus proportional rate SMC and the third one is a power rate SMC. Hybrid propulsion system minimises the use of on-board power for close formations. Artificial Potential Field method is used for collision-free path planning of the satellites in the formation. Simulation results show that for the formation flying scenario considered in this study, the constant plus proportional rate SMC and the power rate SMC gives better performance over the tan-hyperbolic SMC. Simulation results prove that for the tetrahedron formation considered in this study, the total control effort is less when the constant plus proportional rate controller and the power rate controller are used compared to the tan-hyperbolic sliding mode controller. Very little formation center movement is observed for the three SMCs.
The main objective of this work is to develop a user friendly GUI developed in JAVA language for manoeuvring a mobile robot named 'OCTAGON' with algorithms for obstacle avoidance in its path of motion. A user-...
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ISBN:
(纸本)9784990288013
The main objective of this work is to develop a user friendly GUI developed in JAVA language for manoeuvring a mobile robot named 'OCTAGON' with algorithms for obstacle avoidance in its path of motion. A user-friendly module is designed and successfully implemented for the operation of the entire system to do some specific operations. OCTAGON employs a sophisticated application - controlling interface created in JAVA, as it is a fantastic programming language for any application software development. The software module application facilitates the user interaction with OCTAGON and has many in built features such as the security and authentication. When the java code is executed, the default GUI screen appears as shown in the Fig. 2 and all the motors status is displayed. For activating a particular motion, we can navigate to its page by selected the left hand menu. The software is designed for maximum robot control & working efficiency. It is so designed such that the user can have complete control over each movable part of the robot. Also, the user can easily maneuver the robot & make it traverse a path towards the object to be picked. He or she can then manipulate the different limbs of the robotic arm so that the gripper comes closer to the object & eventually picks it up. Throughout this process the software interface guides the user through the usage of various parts of the robot & provides him with responses from the robot. Given the time on hand, the ease of programming and power of JAVA, it was an ideal choice for use in designing our application interface to the octagon. The software is designed for maximum robot control & working efficiency. It is so designed that the user can have complete control over each movable part of the robot. Also the user can easily maneuver the robot & make it traverse in a path towards the object to be picked. He/she can then manipulate the different limbs of the robotic arm so that the gripper comes closer to the object & even
This paper presents a design of continuous-time sliding mode control for the higher order systems via reduced order model. It is shown that a continuous-time sliding mode control designed for the reduced order model g...
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This paper presents a design of continuous-time sliding mode control for the higher order systems via reduced order model. It is shown that a continuous-time sliding mode control designed for the reduced order model gives similar performance for thc higher order system. The method is illustrated by numerical examples. The paper also introduces a technique for design of a sliding surface such that the system satisfies a cost-optimality condition when on the sliding surface.
Though continuous-time sliding mode control has a variety of desirable properties, its discrete-time counterpart does not guarantee the same performance. This is due to the fact that most of the discrete-time sliding ...
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This paper presents an approach based on the use of correspondence analysis (CA) for the task of fault detection and diagnosis. Unlike other tools (PCA / DPCA) that are used for this latter task, CA is shown to use a ...
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This paper presents an approach based on the use of correspondence analysis (CA) for the task of fault detection and diagnosis. Unlike other tools (PCA / DPCA) that are used for this latter task, CA is shown to use a different metric to represent the information content in the data matrix X . Decomposition of the information represented in the metric is shown to yield superior performance from the viewpoints of data compression, discrimination and classification as well as early detection of faults. We demonstrate these performance improvements over PCA and DPCA on the Tennessee Eastman problem, which is a representative benchmark problem used in the literature. CA is shown to yield vastly superior performance for the monitoring of the TE problem, when compared with PCA and DPCA.
In this paper, a new approach for fault detection and isolation that is based on the possibilistic clustering algorithm is proposed. Fault detection and isolation (FDI) is shown here to be a pattern classification pro...
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In this paper, a new approach for fault detection and isolation that is based on the possibilistic clustering algorithm is proposed. Fault detection and isolation (FDI) is shown here to be a pattern classification problem, which can be solved using clustering and classification techniques. The possibilistic clustering approach was proposed to address some of the short comings of the fuzzy c-means (FCM) algorithm. The probabilistic constraint imposed on the membership value in the FCM algorithm is relaxed in the possibilistic clustering algorithm. Because of this relaxation, the possibilistic approach is shown in this paper to give more consistent results in the context of the FDI tasks. The proposed approach addresses the issue of correctly isolating a fault that may occur with varying intensities. The concept of fault lines is introduced, which in conjunction with possibilistic clustering has been effectively used for FDI. Fault signatures that change as a function of the fault intensities are represented as fault lines, which are shown to be useful to classify faults that can manifest with different intensities. The proposed approach has been validated here through simulations involving a co-polymerization reactor simulation.
Though continuous-time sliding mode control has a variety of desirable properties, its discrete-time counterpart does not guarantee the same performance. This is due to the fact that most of the discrete-time sliding ...
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Though continuous-time sliding mode control has a variety of desirable properties, its discrete-time counterpart does not guarantee the same performance. This is due to the fact that most of the discrete-time sliding mode control algorithms are based on reaching laws that are only approximations of continuous-time reaching laws and thus may not give a performance close to continuous-time sliding mode control. This paper presents a method of multirate output feedback based discrete-time control design which guarantees the closest possible performance for a pre-designed continuous-time sliding mode control algorithm
Though continuous-time sliding mode control has a variety of desirable properties, its discrete-time counterpart does not guarantee the same performance. This is due to the fact that most of the discrete-time sliding ...
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ISBN:
(纸本)1424401704;9781424401703
Though continuous-time sliding mode control has a variety of desirable properties, its discrete-time counterpart does not guarantee the same performance. This is due to the fact that most of the discrete-time sliding mode control algorithms are based on reaching laws that are only approximations of continuous-time reaching laws and thus may not give a performance close to continuous-time sliding mode control. This paper presents a method for digital redesign of sliding mode control using saturation function based on state feedback. The method is extended to multirate output feedback case. It is shown that performance of the proposed controller is close to the performance of a pre-designed continuous-time sliding mode control algorithm. The method is illustrated by a numerical example
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