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This paper describes an approach of the transporting and suppressing control of a rotating cargo for a jib crane. First, we show that the angle of the twisting cargo is measured using inertial measurement unit, and next proposed the gyro system with a control moment gyro implemented on the cargo. In experiments, we confirmed to transport the cargo with preventing the translational and twist sway using...
The drones are used for many purposes such as structure inspections, pesticide sprayings, photographys, load carriages and investigations in the world. The drones have a week point that it is difficult to fly them in the strong wind. However, it is an important task to fly in the strong wind for the disaster relieves. In this paper, we show the modeling and the attitude control system design of a...
Gyroscope is well known as a sensor but also used as an actuator. In the beginning of 20th century, research that related with gyro-monorail by using a gyro-actuator was conducted. Later, the research on a gyro-bike system was reported in 1970's. Then, the self-sustaining body bike has been reported up until now. In this paper, we propose an unmanned self-sustaining driving control bike in a straight...
There are many publications on the stabilization of an inverted pendulum because it is a typical unstable system and is well used as an example to verify many control theories. However, few approaches consider the inverted pendulum as an unknown parameter system. This paper proposes a new VSS (Variable Structure System) robust adaptive control system including a self‐tuning controller for a rotary...
The design strategy of adaptive controller for anti-slip system of EV (electric vehicle) is proposed. The proposed system is constructed by preparing both systems of disturbance observer and parameter estimation. The load variation of the tire slip is observed as the equivalent disturbance of motor system by employing the adaptive disturbance observer, and the vehicle speed is estimated. The tire...
This paper presents the self-tuning control method for the rotation type inverted pendulum that the momentum of inertia of the pendulum part changes widely. The control system prepares two kinds of adaptive controllers, and the stabilization of inverted pendulum is achieved by separating the control mode to two stages. The rotational angle of the pendulum is stabilized by VSS (variable structure system)...
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