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Application of Enhanced Extended Observer in Station-Keeping of a Quadrotor with Unmeasurable Pitch and Roll Angles ⁎

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IFAC-PapersOnLine 2019年第16期52卷 837-842页

作者： Oleg I. Borisov Anton A. Pyrkin Alberto Isidori ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia University of Rome “La Sapienza” Department of Computer Control and Management Engineering “A. Ruberti” Rome Italy

In this paper we provide an example of application of the design of a control law that makes use of an enhanced version of the so-called extended observer. The enhancement in question reposes on the extension of a classical Lemma due to Dayawansa to the case of nonlinear systems whose normal form includes time-varying (and measurable) gains. The presented example concerns a station-keeping problem of a quadrotor with unmeasurable pitch and roll angles.

关键词： Dayawansa’s lemma Robust observers Nonlinear systems High-gain observers Quadrotors

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Prospects for the use of wireless reading of prosthetic control signals and methods for generating commands

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IOP Conference Series: Materials Science and engineering 2021年第1期1019卷

作者： D Malakhov V Zhmud V Avrmachuk D Gryaznov J Nosek L Dimitrov Department of Automation Novosibirsk State Technical University Novosibirsk Russia Department of Complex Information Security of Computer Systems Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Department of Mechatronics and Computer Engineering (MTI) Faculty of Mechatronics Informatics and Interdisciplinary Studies Technical University of Liberec Liberec Czech Republic Vice rector Technical University of Sofia Sofia Bulgaria

The paper provides a rationale for the use of low-power wireless communication to create non-invasive bionic limb prostheses. The need for such a connection is dictated, on the one hand, by the expediency of using sensors located in various parts of the body, often very remote from each other, on the other hand, by the desire to free the disabled person's body from the wires that would envelop it like a spider web. For each of these positions, arguments are given.

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Dynamics and control of a Two-link Manipulator using PID and Sliding Mode control

Dynamics and Control of a Two-link Manipulator using PID and...

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2018 International Conference on Computer, control, Electrical, and Electronics engineering, ICCCEEE 2018

作者： Mohammed, Amin A. Eltayeb, Ahmed Mechanical Engineering Department King Fahd University of Petroleum Minerals Dhahran31261 Saudi Arabia Department of Control and Mechatronics Engineering Universiti Teknologi Malaysia Johor81310 Malaysia

ISBN: (纸本)9781538641231

A robotic arm having two links is considered in this report for modeling and control. First the dynamic model of the robot is obtained using the so-called Lagrange equation, then a robust control strategy based on the conventional sliding mode control is introduced to control the motion of the robot at specific position for pick and place tasks along with PID control scheme. The results of the two controllers are compared. From the simulation results the SMC is found to be superior to the PID controller in term of fast and robust response yet with higher control input. High join speeds are observed in case of SMC which are related to the high control signals. © 2018 IEEE.

关键词： Three term control systems

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Structure of an ultrahigh internal pressure compound cylinder and its simulation by AMESim

Structure of an ultrahigh internal pressure compound cylinde...

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19th International Conference of Fluid Power and Mechatronic control engineering 2018

作者： Li, Geqiang Xv, Yanli Zhou, Bin Xie, Keqiang Hua, Wanhong School of Mechatronics Engineering Henan University of Science and Technology Luoyang China Department of Measurement and Control Technology Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province Luoyang China Department of E-Commerce Anyang Forging Press Machinery Industry Co. Ltd. Anyang China

This study presents an ultrahigh internal pressure compound booster cylinder and analyses the structure and principle of the cylinder. Its advantages include low input, high pressure output, and direct action on the execution cylinder. The model of the ultrahigh internal pressure compound booster cylinder is constructed by AMESim, and the result is analysed. By analysing the research and simulation results for this cylinder, the authors eventually designed an integrated composite hydraulic cylinder assembly that can realise the large pressure output of fast-forward and quick return actions. © 2019 Institution of engineering and Technology. All rights reserved.

关键词： Cylinders (shapes)

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Adaptive control of the composite linear switched reluctance motor 11

Adaptive control of the composite linear switched reluctance...

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11th IET International Conference on Advances in Power System control, Operation and Management, APSCOM 2018

作者： Fu, Pengfei Huang, Ren Pan, J.F. Hong, Yue Cheng, Eric Li, Can College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Department of Electrical Engineering Hong Kong Polytechnic University Hong Kong Hong Kong

ISBN: (纸本)9781839530043

This paper proposes a composite linear switched reluctance motor (CLSRM) with a long primary mover, left secondary translate and right secondary mover for industrial processing and transportation. The left and right secondary movers can respectively move relative to the long mover to achieve a composite motion. Adaptive control is applied to the proposed CLSRM in consideration of the mutual interference between the three movers. Experimental results show that the effectiveness of the adaptive control method for position control of the CLSRM. © 2018 Institution of engineering and Technology. All rights reserved.

关键词： Position control

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Dual-loop voltage control of linear switched reluctance generator 11

Dual-loop voltage control of linear switched reluctance gene...

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11th IET International Conference on Advances in Power System control, Operation and Management, APSCOM 2018

作者： Huang, Ren Fu, Pengfei Pan, J.F. Cheng, Eric Li, Can Liu, Yun College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Department of Electrical Engineering Hong Kong Polytechnic University Hong Kong Hong Kong

ISBN: (纸本)9781839530043

The wave power generation system based on the single-loop controller has low voltage precision and low robustness, especially in low speed conditions and parameter variations. To overcome the problem, this paper proposes a dual-loop controller. The dual-loop controller is constructed by employing a tradition proportional integral differential (PID) current controller as the inner loop and a PID voltage controller for the outer loop. The experimental results show that the proposed controller can reduce the steady-state error and it has certain robustness under the conditions of speed variations. © 2018 Institution of engineering and Technology. All rights reserved.

关键词： controllers

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Research on the synergetic algorithm of linear permanent magnet motor

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Journal of Computers (Taiwan) 2019年第3期30卷 231-242页

作者： Li, Jinzi Xiao, Jiongran Pan, Jianfei Department of Computer Engineering Shenzhen Polytechnic East Campus Administration Building 414 Shenzhen Guangdong518000 China College of Mechatronics and Control Engineering Shenzhen University Shenzhen Guangdong518060 China

This paper studies the motion control system formed by three permanent magnet synchronous linear motors. In order to achieve the coordinated position control of the motors, the author first studies the influence of different communication topologies on the synergetic performance among motors;secondly, the author proposes an adjacent deviation coupled synergetic algorithm to improve the overall control effect of the synergetic system;lastly, the author designs and implements control experiment, the results of which indicate adjacent deviation coupled algorithm can effectively improve the synergetic accuracy among linear motors. Compared with traditional methods, the synergetic error among motors has declined from 0.3 mm to 0.25 mm and the synergetic accuracy has been improved by 17%. © 2019 Computer Society of the Republic of China. All rights reserved.

关键词： Linear motors

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Cascade control of SATCOM on the Move (SOTM) Antennas with Jacobian Operator

Cascade Control of SATCOM on the Move (SOTM) Antennas with J...

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International Conference on control, mechatronics and Automation (ICCMA)

作者： Mustafa CELIK Oguz Kaan HANCIOGLU Seta BOGOSYAN Michal BASTL Jan NAJMAN Robert GREPL Control Systems Group PROFEN Communication Technologies & Services Inc. Istanbul Turkey Mechatronics Engineering Department Istanbul Technical University Istanbul Turkey Institute of Solid Mechanics Mechatronics and Biomechanics Brno University of Technology Brno Czech Republic

Increasing demand in SATCOM systems has led to the development of Satcom on the Move (SOTM) antennas. Performance, light weight, low cost, and high data rate are the required parameters in the designing of SOTM antenna. The designer has to make a suitable system with respect to these design parameters. With this aim, this paper proposes a 4 axes antenna capable of 3 axes stabilization to compensate for the disturbance. With adding the position controller, the antenna can point and track the satellite on the mobile platforms. Due to the singularity problem in this type of antenna, the 3 axes stabilized antenna system is used in this paper. The kinematic equations and Jacobian operator are derived for calculation of the necessary axis feedback and look angles. The Jacobian operator with MEMS sensor which is a cost-effective solution. Furthermore, we propose PI-based stabilization for the stabilization controller and PID based pointing for the position controller. To verify the proposed algorithms, different disturbances are applied to the system.

关键词： cascade control feedback Jacobian matrices microsensors PI control position control satellite antennas stability three-term control

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$H_{\infty}$ Output Tracking control for Networked Systems With Adaptively Adjusted Event-Triggered Scheme

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2019年第10期49卷 2050-2058页

作者： Huaicheng Yan Chenyang Hu Hao Zhang Hamid Reza Karimi Xiaowei Jiang Ming Liu Key Laboratory of Advanced Control and Optimization for Chemical Process of Ministry of Education East China University of Science and Technology Shanghai China School of Information Science and Engineering East China University of Science and Technology Shanghai China Department of Control Science and Engineering Tongji University Shanghai China Department of Mechanical Engineering Politecnico di Milan Milan Italy College of Mechatronics and Control Engineering Hubei Normal University Huangshi China Research Center of Satellite Technology Harbin Institute of Technology Harbin China

The H ∞ output tracking control problem of the networked control systems (NCSs) under an adaptively adjusted event-triggered scheme is investigated in this paper. Firstly, a novel adaptively adjusted event-triggered scheme developed in the NCSs with stochastic sensor faults is proposed to choose the necessary packets of sampled data to be transmitted through the networks. Then, the considered system is described as a time-delay system with a delay-distribution for investigation. Based on the established model, a novel stability criterion and the state-feedback controller design with a desired performance of H ∞ output tracking control for the systems are both derived by using Lyapunov functional. An algorithm is also presented to explain the process of adaptively adjusted event-triggered scheme method. Finally, a satellite tracking case is provided to demonstrate the effectiveness of the proposed approach.

关键词： Bandwidth Delays Actuators Communication networks Symmetric matrices Networked control systems

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Digital Quadruplets for Cyber-Physical-Social Systems based Parallel Driving: From Concept to Applications

arXiv

引用

arXiv 2020年

作者： Liu, Teng Yang, Xing Wang, Hong Tang, Xiaolin Chen, Long Yu, Huilong Wang, Fei-Yue State Key Laboratory of Mechanical Transmissions College of Automotive Engineering Chongqing University Chongqing400044 China Department of Mechanical and Aerospace Engineering Nanyang Technological University Singapore School of Vehicle and Mobility Tsinghua University Beijing China Waytous Inc. Qingdao Shandong266109 China Department of Mechanical and Mechatronics Engineering University of Waterloo N2L 3G1 Canada State Key Laboratory for Management and Control of Complex System Institute of Automation Beijing China

Digital quadruplets aiming to improve road safety, traffic efficiency and driving cooperation for future connected automated vehicles are proposed with the enlightenment of ACP based parallel driving. The ACP method denotes Artificial societies, Computational experiments and Parallel execution modules for cyber-physical-social systems. Four agents are designed in the framework of digital quadruplets: descriptive vehicles, predictive vehicles, prescriptive vehicles and real vehicles. The three virtual vehicles (descriptive, predictive, and prescriptive) dynamically interact with the real one in order to enhance the safety and performance of the real vehicle. The details of the three virtual vehicles in the digital quadruplets are described. Then, the interactions between the virtual and real vehicles are presented. The experimental results of the digital quadruplets demonstrate the effectiveness of the proposed framework. Copyright © 2020, The Authors. All rights reserved.

关键词： Vehicles

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