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Design of H_(infinity) Command and Control Loops for Unmanned Aerial Vehicles using Static Output-Feedback

Design of H_(infinity) Command and Control Loops for Unmanne...

引用

Proceedings of the 46th IEEE Conference on Decision and Control, Pages 1-459

作者： J. Gadewadikar F. Lewis K. Subbarao Ben M. Chen Systems Research Institute Department of Advanced Technologies Alcorn State University USA Automation and Robotics Research Institute University of Texas Arlington Fort worth TX USA Mechanical and Aerospace Department University of Texas Arlington TX USA Department of Electrical & Computer Engineering National University of Singapore Singapore

The aim of this paper is to design a helicopter position control system with guaranteed performance that allows tracking control of Unmanned Aerial Vehicle positions -^sX, Y, Z, and yaw while preserving a structure that is generally accepted in the helicopter control community. The paper presents an approach for designing compensators for shaping the closed-loop inertial positions and yaw step response using H_(infinity) output-feedback design techniques. Simplified conditions are used which only require the solution of two coupled matrix design equations. H_(infinity) framework is utilized to pose the problem of stabilization as an outer position command loop and an inner control loop. Inner loop controls attitude rates along with roll and pitch and provides robustness and structure. This paper thereby presents a design for hover and station-keeping control of UAV helicopters. It is shown that the rotorcraft model can be first loop shaped to achieve desired characteristics about the hover operating condition. A numerically efficient solution algorithm to solve the H_(infinity) coupled design equations for both inner and outer loops is used. A major contribution is that an initial stabilizing gain is not needed. The efficacy of the control law and the disturbance accommodation properties are shown on a rotorcraft design example.

关键词： Helicopters Unmanned aerial vehicles Control systems Attitude control Riccati equations Vehicle dynamics Output feedback Linear matrix inequalities Shape control USA Councils

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Compact helicon source experiments for electrodeless electromagnetic thruster

Compact helicon source experiments for electrodeless electro...

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43rd AIAA/ASME/SAE/ASEE Joint Propulsion Conference

作者： Toki, Kyoichiro Hashimoto, Takashi Tanaka, Yoshikazu Shinohara, Shunjiro Hada, Tohru Ikeda, Yasushi Tanikawa, Takao Shamrai, Konstantin P. Funaki, Ikkoh Tokyo University of Agriculture and Technology Koganei-city Tokyo 184-8588 Japan Kyushu University Fukuoka Fukuoka 816-8580 Japan Tokai University Hiratsuka Kanagawa 259-1292 Japan Institute for Nuclear Research Kiev 03680 Ukraine Japan Aerospace Exploration Agency Sagamihara Kanagawa 229-8510 Japan Mechanical Systems Engineering Institute of Symbiotic Science and Technology 2-24-16 Naka-cho Koganei-city Tokyo Japan AIAA United States Mechanical Systems Engineering 2-24-16 Naka-cho Koganei-city Tokyo Japan Department of Advanced Energy Engineering Science Interdisciplinary Graduate School of Engineering Sciences 6-1 Kasuga-koen Kasuga Fukuoka Japan Department of Earth System Science and Technology Interdisciplinary Graduate School of Engineering Sciences 6-1 Kasuga-koen Kasuga Fukuoka Japan Research Institute of Science and Technology 1117 Kitakaname Hiratsuka Kanagawa Japan Department of Plasma Theory Institute for Nuclear Research National Academy of Sciences of Ukraine 47 Prospect Nauki Kiev Ukraine Research Division for Space Transportation Institute of Space and Astronautical Science 3-1-1 Yoshinodai Sagamihara Kanagawa Japan

ISBN: (纸本)1563479036

Ar plasma of 1013 cm-3 density was formed in a 2.5 cm i.d. helicon source and the acceleration experiments using RF antennae were performed. A repetitious saw-tooth coil current acceleration method and a continuous "Lissajous" acceleration method were tested. The latter method attained 3.5 km/s plasma exhaust velocity. Judging from the plasma properties measurements, this is thought to be an electromagnetic acceleration.

关键词： Helicons

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Study on Inverse Kinematics and Trajectory Tracking Control of Humanoid Robot Finger with Nonlinearly Coupled Joints

Study on Inverse Kinematics and Trajectory Tracking Control ...

引用

IEEE International Conference on Mechatronics and automation

作者： L. Jiang D. Sun H. Liu Y.H. Liu Robotics Research Institute Harbin Institute of Technology Harbin China Department of MEEM City University of Hong Kong Kowloon Hong Kong China Institute of Robotics and Mechartronics German Aerospace Center Wessling Germany Department of Mechanical and Automation Engineering Chinese University of Hong Kong New Territories Hong Kong China

It is a challenging problem to derive closed-form solution of inverse kinematics of the humanoid robot fingers with nonlinearly coupled joints. This paper presents a novel quasi-closed-form solution of inverse kinematics for such fingers. On the assumption that the angles of the two coupled joints are equal, an approximate closed-form solution of fingertips inverse kinematics is derived firstly. Utilizing the approximate solution as the ancillary variables, the problem of inverse kinematics is converted to determination of the joint angles from the approximate solution instead of the fingertip position. Based on the properties of the approximate solution, it is found that the approximate solution of the coupled joint plays the most important role in the joint angle derivation. In practical implementation, a ID look-up table and the linear interpolation to the approximate solution of the coupled joint are used to compute the accurate joint angles named the quasi-closed-form solution. Simulation results show that the proposed method exhibits good accuracy, though its computational cost is slightly higher than that of the approximate solution. Furthermore, a trajectory tracking controller is developed, formed with a combination of feedforward, feedback and a saturation control. The controller does not require the explicit use of dynamic modeling parameters. Lyapunov based stability analysis indicates that the finger system with the proposed controller can be asymptotically stable. Experiments are finally performed to demonstrate the correctness of the proposed solution of inverse kinematics and the trajectory tracking control algorithm.

关键词： Kinematics Trajectory Robot control Humanoid robots Fingers Couplings Closed-form solution Table lookup Interpolation Computational modeling

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A study on Optimization Design of Ultrasonic Bonding Machine

A study on Optimization Design of Ultrasonic Bonding Machine

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2007 International Conference on Control, automation and systems (ICCAS 2007), vol.4

作者： Jae-Myung Yoo Jong-Hyeong Kim Research Institute of Nano Manufacturing System Seoul National University of Technology Seoul Korea School of Mechanical Design & Automation Engineering Seoul National University of Technology Seoul Korea

Our life has many electronic products and its use getting increase sharply in title future. For this reason, importance of semiconductors packaging technology with small size, multi function has been a steady increase every day. So flip chip interconnection technology to satisfy the requirements is realized very important technology by many researchers and various study of the flip chip interconnection technologies such as process and technology of bonding, bumping and UBM process etc. are going on actively. The technology of bonding is classified into bonding process as thermo compression bonding, ultrasonic bonding and laser bonding. In this paper flip chip bonding machine using ultrasonic bonding process technology is developed. The bonding machine which can bond gold to gold and gold to aluminum using 40kHz ultrasonic. The machine is semi auto ultrasonic flip chip bonding machine. It consists of three units: 1. Bonding head unit of accurate structure for reliability 2. Panel stage unit of accurate actuator structure for velocity and force control 3. Align Camera unit consist of 2 CCD camera module and mirror type for align of COG.

关键词： MSP (Microsystems Packaging) Technology Flip Chip Interconnection Ultrasonic Bonding Machine

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Micro-surface construction and characterization from digital elevation model using thin plate splines in MATLAB environment

Micro-surface construction and characterization from digital...

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2006 ASME International mechanical engineering Congress and Exposition, IMECE2006

作者： Mayyas, Mohammad Shiakolas, Panos S. Mechanical and Aerospace Engineering Department Automation and Robotics Research Institute University of Texas at Arlington Arlington TX 76019 United States

ISBN: (纸本)0791837904

The Thin Plate Splines (TPS) theory is modified and employed in the reconstruction of 2D1/2 unfolded microtopographical surfaces. The modified TPS allows the reconstruction of MEMS structures based on sampled digital elevation model (DEM). The developed algorithms are implemented in MATLAB and applied to restore bad samples, enhance surface reconstruction, and compensate for surface irregularities for micromachining purposes. In addition, the restored surface reveals the scale components of the real surface (roughness, waviness and form). The irregularity of meso, micro and nano surfaces is then characterized into slope, curvature, strike, dip, azimuth and energy surfaces. It is concluded that the simplicity, differentiability of TPS and roughness components relaxation make the proposed theory advantageous on reconstruction and characterization of micro surfaces for a variety of applications. Copyright © 2006 by ASME.

关键词： Splines

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A study on the thermal behavior of electrothermal microactuators due to various voltage inputs

A study on the thermal behavior of electrothermal microactua...

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2006 ASME International mechanical engineering Congress and Exposition, IMECE2006

ISBN: (纸本)0791837904

The steady state temperature profiles of U- and I-shaped electrothermal microactuators are analytically derived. The temperature profiles could be used to evaluate the performance sensitivity of the microactuator due to various parameter changes. In this work, the analysis assumes an unpackaged silicon microactuator with an air gap between the actuator and substrate and the profiles are evaluated for various input voltage amplitudes. It was found that at low voltage inputs the temperature profile is exponential in nature with the failure being due to thermo-structural stresses and/or structure melting. At voltages larger than a critical value, a combined sinusoidal and exponential temperature profile is observed with the failure being strongly due to structural melting as well. However, higher voltage excitation causes a fully distributed sinusoidal temperature profile. In this mode, failures occur at different locations and due to high localized thermal stresses causing the temperature to exceed the material melting point. The behavior of U- and I-shaped microactuators based on silicon on insulator (SOI) fabrication and femtosecond laser micromachining was experimentally examined with the results corroborating the conclusions drawn from the analysis. Copyright © 2006 by ASME.

关键词： Microactuators

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A novel simple humidity sensor constructed by sandwiched cantilever

A novel simple humidity sensor constructed by sandwiched can...

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2006 5th IEEE Conference on Sensors

作者： Chen, Rex Chu, N-Hsun Lee, Chia-Yen Chen, Hao-Jen Cheng, Wood-Hi Micro-system Technology Center Industrial Technology Research Institute Tainan Taiwan Department of Mechanical and Automation Engineering Da-Yeh University Changhua Taiwan Institute of Electro-optical Engineering NSYSU Kaoshiung Taiwan

ISBN: (纸本)1424403766

This paper presents a novel humidity sensing mechanism. A simple sandwiched cantilever fabricated by traditional MEMS (Microelectromechanic Syetems) process is proposed in this study. During the operation of humidity sensing, the polyimide-sensing layer, top layer of the sandwiched micro-cantilever, swells and the induced compressive stress pushes the tip of cantilever to deflect downward. To systematically investigate the performance of humidity sensor, three items were conducted in this study including response curve, time response, and hysteresis. The simple sensing mechanism had been verified and yielded a high average response time of 0.7 second during humidity range from 65%RH to 95%RH. © 2006 IEEE.

关键词： Humidity sensors

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Vibration analysis of initially twisted shell type blades subjected to thermal loads

Vibration analysis of initially twisted shell type blades su...

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13th International Congress on Sound and Vibration 2006, ICSV 2006

作者： Kee, Youngjung Kim, Deog-Kwan Kim, Seung-Ho Kim, Ji-Hwan Rotor System Department Korea Aerospace Research Institute 45 Eoeun-Dong Yuseong-Gu Daejeon 305-806 Korea Republic of School of Mechanical and Aerospace Engineering College of Engineering Seoul National University Seoul 151-742 Korea Republic of

ISBN: (纸本)9781627481502

Nowadays, shell-type structures are widely used as a part of the turbo-machines. These structures have different curvatures, which are the main feature relative to the beam or plate models. Thus, shell models are preferable to beam or plate models because the shell models consider the effect of surface curvatures. The purpose of this study is to analyze the free vibration characteristics of a rotating blade subjected to the centrifugal force, Coriolis acceleration and thermal loads. In this study, general formulation is proposed to analyze the initially twisted rotating shell-type blades in thermal environment, and the finite element method is adopted for solving the governing equations.

关键词： Thermal load

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Characterization of mechanical and electrical properties of epoxy-glass microballoon syntactic composites

Characterization of mechanical and electrical properties of ...

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作者： Gupta, Nikhil Priya, Shashank Islam, Rashed Ricci, William Composite Materials and Mechanics Laboratory Mechanical Aerospace and Manufacturing Engineering Polytechnic University Brooklyn NY 11201 United States Materials Science and Engineering Automation Robotics Research Institute University of Texas at Arlington Arlington TX 76019 United States Mechanical Aerospace and Manufacturing Engineering Department Six MetroTech Center Brooklyn NY 11201

The density of hollow particle (microballoon) filled composites called syntactic foams can be varied by two methods. The first method is the variation in microballoon volume fraction and the second method is the variation in the microballoon wall thickness, while keeping their volume fraction the same. A comparison of compressive properties of syntactic foams having microballoons of four different wall thicknesses in five volume fraction each is presented here. It is found that the compressive strength and modulus vary linearly with respect to the foam density. Dielectric constant, dielectric loss and electrical impedance are measured for four syntactic foam compositions with respect to temperature and frequency. Dielectric constant and loss are found to decrease with increase in frequency and with decrease in temperature in the range of 40-140°C.

关键词： Composite materials

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Static and dynamic modeling of thermal microgripper

Static and dynamic modeling of thermal microgripper

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Mediterranean Conference on Control and automation (MED)

作者： M. Mayyas P. S. Shiakolas Woo Ho Lee Dan Popa Harry Stephanou Mechanical and AeroSpace Engineering and Automation & Robotics Research Institute University of Texas Arlington Arlington TX USA

The performance of any micro-component affects the overall performance of the system especially in the micro-level. In this research work, the thermal and structural performances of microgripper based on silicon are studied. The present study is part of a larger effort in developing, modeling and characterization procedures toward understanding the behavior of microgripper. This is essential to develop better control algorithms and to facilitate the study of robot arms dynamic on gripping performance. The structural stiffness and failure of microgripper in static loading are characterized for two actuation modes: in-plane and off-plane. Moreover, building block attempts are introduced for dynamical modeling of microgripper/sensor and environment. The electromechanical system model of sensor is experimentally identified and utilized in identifying the performance of hypothesized lumped models of microgripper

关键词： Grippers Aerodynamics Robots Robotics and automation Silicon Manipulators Electromechanical sensors Sensor phenomena and characterization Open loop systems Assembly

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