Trajectory tracking of a mini four-rotor helicopter in dynamic environments - a linear algebra approach

Robotica ◽  
2014 ◽  
Vol 33 (08) ◽  
pp. 1628-1652 ◽  
Author(s):  
Claudio Rosales ◽  
Daniel Gandolfo ◽  
Gustavo Scaglia ◽  
Mario Jordan ◽  
Ricardo Carelli
Keyword(s):  
Control System ◽  
Numerical Methods ◽  
Linear Algebra ◽  
Trajectory Tracking ◽  
Dynamic Environments ◽  
Lagrange Equations ◽  
3D Space ◽  
Control Actions ◽  
Algebra Approach ◽  
Simulation Results

SUMMARYThis paper presents the design of a controller that allows a four-rotor helicopter to track a desired trajectory in 3D space. To this aim, a dynamic model obtained from Euler-Lagrange equations describes the robot. This model is represented by numerical methods, with which the control actions for the operation of the system are obtained. The proposed controller is simple and presents good performance in face of uncertainties in the model of the system to be controlled. Zero-convergence proof is included, and simulation results show a good performance of the control system.

Linear algebra approach to phase shifting interferometry: numerical methods

2019 ◽  
Author(s):  
Marco Antonio Escobar Acevedo ◽  
Julio C. Estrada ◽  
Javier Vargas
Keyword(s):  
Numerical Methods ◽  
Linear Algebra ◽  
Phase Shifting ◽  
Phase Shifting Interferometry ◽  
Algebra Approach

scholarly journals Quadrotor multibody modelling by vehiclesim: adaptive technique for oscillations in a PVA control system

2015 ◽  
Vol 23 (16) ◽  
pp. 2704-2723 ◽  
Author(s):  
Silvia Estelles ◽  
M Tomas-Rodriguez
Keyword(s):  
Control System ◽  
Trajectory Tracking ◽  
Trajectory Control ◽  
Dynamical Model ◽  
Adaptive Process ◽  
Control Actions ◽  
Adaptive Technique ◽  
Detailed Modelling ◽  
Control Methodology

The work presented here covers the detailed modelling and trajectory control for an elastic bladed quadrotor vehicle. The benefits of using VehicleSim modelling software are also discussed. The authors present a full elastic structural and dynamical model as well as two different aerodynamic models. These two aerodynamic models differ from each other on their level of complexity and therefore, accuracy. The control methodology employed to stabilize and guide the vehicle is Proportional-Velocity-Acceleration (PVA), derived and implemented by using Simulink. As it will be shown, it stabilises and provides satisfactory quadrotor trajectory tracking. Since the control methodology feeds back the acceleration of the vehicle, and this acceleration has an oscillating nature, an adaptive process has been designed and introduced into the vehicle’s model in order to avoid the oscillations’ transmission to the control system, showing how it reduces the amplitude of the control actions oscillations. Results of simulations and discussion on them are also provided at the end of this article.

Formation control and trajectory tracking of mobile robotic systems – a Linear Algebra approach

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 335-349 ◽  
Author(s):  
Andrés Rosales ◽  
Gustavo Scaglia ◽  
Vicente Mut ◽  
Fernando di Sciascio
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Dynamic Model ◽  
Linear Algebra ◽  
Trajectory Tracking ◽  
Formation Control ◽  
Controller Design ◽  
Novel Approach ◽  
Algebra Approach ◽  
New Strategy

SUMMARYA novel approach for trajectory tracking of a mobile-robots formation by using linear algebra theory and numerical methods is presented in this paper. The formation controller design is based on the formation states concept and the dynamic model of a unicycle-like nonholonomic mobile robot. The proposed control law designed is decentralized and scalable. Simulations and experimental results confirm the feasibility and the effectiveness of the proposed controller and the advantages of using the dynamic model of the mobile robot. By using this new strategy, the formation of mobile robots is able to change its configuration (shape and size) and follow different trajectories in a precise way, minimizing the tracking and formation errors.

Trajectory Tracking of Underactuated Surface Vessels: A Linear Algebra Approach

2014 ◽  
Vol 22 (3) ◽  
pp. 1103-1111 ◽  
Author(s):  
Mario Emanuel Serrano ◽  
Gustavo J. E. Scaglia ◽  
Sebastian Alejandro Godoy ◽  
Vicente Mut ◽  
Oscar Alberto Ortiz
Keyword(s):  
Linear Algebra ◽  
Trajectory Tracking ◽  
Surface Vessels ◽  
Algebra Approach ◽  
Underactuated Surface Vessels

Trajectory tracking in a nonlinear CSTR. Controller design based on a linear algebra approach

2014 ◽  
Author(s):  
Romina Suvire ◽  
Gustavo J. E. Scaglia ◽  
Mario E. Serrano ◽  
Jorge R. Vega ◽  
Oscar A. Ortiz
Keyword(s):  
Linear Algebra ◽  
Trajectory Tracking ◽  
Controller Design ◽  
Algebra Approach

Trajectory tracking of mobile robots in dynamic environments—a linear algebra approach

Robotica ◽  
2009 ◽  
Vol 27 (7) ◽  
pp. 981-997 ◽  
Author(s):  
Andrés Rosales ◽  
Gustavo Scaglia ◽  
Vicente Mut ◽  
Fernando di Sciascio
Keyword(s):  
Mobile Robots ◽  
Dynamic Model ◽  
Linear Algebra ◽  
Controller Design ◽  
Tracking Error ◽  
Dynamic Environments ◽  
Field Method ◽  
New Approach ◽  
Algebra Approach ◽  
New Strategy

SUMMARYA new approach for navigation of mobile robots in dynamic environments by using Linear Algebra Theory, Numerical Methods, and a modification of the Force Field Method is presented in this paper. The controller design is based on the dynamic model of a unicycle-like nonholonomic mobile robot. Previous studies very often ignore the dynamics of mobile robots and suffer from algorithmic singularities. Simulation and experimentation results confirm the feasibility and the effectiveness of the proposed controller and the advantages of the dynamic model use. By using this new strategy, the robot is able to adapt its behavior at the available knowing level and it can navigate in a safe way, minimizing the tracking error.

Multi-layer controller with state-constraint: Vehicle lateral stability control based on fuzzy logic

2021 ◽  
pp. 095440702110142
Author(s):  
Neng Wan ◽  
Guangping Zeng ◽  
Chunguang Zhang ◽  
Dingqi Pan ◽  
Songtao Cai
Keyword(s):  
Control System ◽  
Integrated Control ◽  
State Constraint ◽  
Stability Control ◽  
Lateral Stability ◽  
System A ◽  
Velocity Reduction ◽  
Vehicle Velocity ◽  
Allowable Range ◽  
Simulation Results

This paper deals with a new state-constrained control (SCC) system of vehicle, which includes a multi-layer controller, in order to ensure the vehicle’s lateral stability and steering performance under complex environment. In this system, a new constraint control strategy with input and state constraints is applied to calculate the steady-state yaw moment. It ensures the vehicle lateral stability by tracking the desired yaw rate value and limiting the allowable range of the side slip. Through the linkage of the three-layer controller, the tire load is optimized and achieve minimal vehicle velocity reduction. The seven-degree-of-freedom (7-DOF) simulation model was established and simulated in MATLAB to evaluate the effect of the proposed controller. Through the analysis of the simulation results, compared with the traditional ESC and integrated control, it not only solves the problem of obvious velocity reduction, but also solves the problem of high cost and high hardware requirements in integrated control. The simulation results show that designed control system has better performance of path tracking and driving state, which is closer to the desired value. Through hardware-in-the-loop (HIL) practical experiments in two typical driving conditions, the effectiveness of the above proposed control system is further verified, which can improve the lateral stability and maneuverability of the vehicle.

Intelligent Information of TS Fuzzy PID Control System of BLDCM

2013 ◽  
Vol 846-847 ◽  
pp. 313-316 ◽  
Author(s):  
Xiao Yun Zhang
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Pid Control ◽  
Control Method ◽  
Design Method ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Control Precision ◽  
Simulation Results ◽  
Intelligent Information

This paper presented a new method based on the Fuzzy self - adaptive PID for BLDCM. This method overcomes some defects of the traditional PID control. Such as lower control precision and worse anti - jamming performance. It dynamic model of BLDCM was built, and then design method for TS fuzzy PID model is given, At last, it compared simulation results of PID control method with TS Fuzzy PID control method. The results show that the TS Fuzzy PID control method has more excellent dynamic antistatic performances, as well as anti-jamming performance. The experiment shows that TS fuzzy PID control has the stronger adaptability robustness and transplant.

scholarly journals Over/Undervoltage and Undervoltage Shift of Hybrid Islanding Detection Method of Distributed Generation

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Manop Yingram ◽  
Suttichai Premrudeepreechacharn
Keyword(s):  
Control System ◽  
Distributed Generation ◽  
Hybrid Method ◽  
Detection Method ◽  
System Simulation ◽  
Detection Methods ◽  
Islanding Detection ◽  
Active Method ◽  
Passive Method ◽  
Simulation Results

The mainly used local islanding detection methods may be classified as active and passive methods. Passive methods do not perturb the system but they have larger nondetection zones, whereas active methods have smaller nondetection zones but they perturb the system. In this paper, a new hybrid method is proposed to solve this problem. An over/undervoltage (passive method) has been used to initiate an undervoltage shift (active method), which changes the undervoltage shift of inverter, when the passive method cannot have a clear discrimination between islanding and other events in the system. Simulation results on MATLAB/SIMULINK show that over/undervoltage and undervoltage shifts of hybrid islanding detection method are very effective because they can determine anti-islanding condition very fast.ΔP/P>38.41% could determine anti-islanding condition within 0.04 s;ΔP/P<-24.39% could determine anti-islanding condition within 0.04 s;-24.39%≤ΔP/P≤ 38.41% could determine anti-islanding condition within 0.08 s. This method perturbed the system, only in the case of-24.39% ≤ΔP/P ≤38.41% at which the control system of inverter injected a signal of undervoltage shift as necessary to check if the occurrence condition was an islanding condition or not.

Sign in / Sign up

Export Citation Format

Share Document