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In this paper, a cascade PID feedback control algorithm is proposed to stabilize the attitude of a quadcopter so that the balancing state can be ensured in spite of disturbances. A mathematical model of quadcopter dynamics is developed by applying Newton-Euler method. It reveals the exact relationships among all the variables involved. Both linear and nonlinear state-space equations are derived afterwards,...
Understanding how human balance and control bicycles is helpful for not only designing bicycle-based rehabilitation devices but also studying physical human-machine interactions. We present stability analysis of a rider-bicycle system under the rider's steering and upper-body movement balancing controls. The dynamic model of rider-bicycle system is first constructed to integrate the rider's upper-body...
Residence time is an essential transport time scale in estuary, and it was calculated for five boxes in Daliaohe Estuary during dry, normal and rainy seasons using a three-dimensional convection-diffusion model based on FVCOM. The results show that the tracer would take about 25 days to get to the river mouth during the dry season, 14 days for the normal season, but only 8 days are needed for the...
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