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To design an automatic controller of a tracking system usually can be built by analyzing response output system. However in many cases especially in complex dynamics system for example quadrotor controller, it is not trivial to end this. Control design for quadrotor can be done by modeling the dynamics system. When dynamics system can be modeled close to real system characteristics, then accurate...
This paper studies on the dynamics model and control method of quad-rotor UAV for research. Firstly analyzes the dynamic characteristic of quad-rotor UAV and establishes the nonlinear dynamics model of quad-rotor UAV; and then applies the PID control to three channels of pitch, roll and yaw based on the established model, and the simulation results show that PID control is effective for the quad-rotor...
Dynamics model is the basis of controller design for a robot. This paper presents dynamics modeling method for the arm of humanoid robot Nao. The dynamics model is analyzed based on Euler-Lagrange equations. Firstly, this paper analyzes the upper limb topology of Nao model and establishes the dynamics models. Secondly, Fuzzy-PD controller is used in the dynamics model and compared with traditional...
This paper presents a fault-tolerant PD tracking system for Multirotor Aerial Vehicles (MAV) based on a novel Recursive Least Squares (RLS) Fault Detection and Isolation (FDI) algorithm utilized to diagnose propulsion system faults. As a test platform we investigate an octorotor model, including rigid body dynamics, the gyroscopic effect and motor dynamics. A hover configuration control is extended...
Variations of a center of gravity (COG) and mass make difficulties for control of quadrotors. For example, there are situations such as flight with swing load or with sloshing fuel. These problems leave room for uncertainties in the attitude and position control systems. To mitigate the above-mentioned effects, effective control algorithm must be developed based on modified dynamics of the quadrotors...
This work presents the automatic control of airplane in longitudinal and lateral-directional planes, during landing, by using the H-inf control and the airplane's linearized dynamics; the H-inf control technique assures robust stability with respect to different disturbances and noise type signals. Both the longitudinal plane and the lateral-directional one are treated; three automatic landing subsystems...
This paper proposes the use Fuzzy logic controller and a Particle Swarm Optimization (PSO) based Linear Quadratic Regulator (LQR) controller for the balance of an electric unicycle. It also examines dynamics of the electric unicycle's schematic design, which has a backing seat for the passenger and is analogous to the Segway device equipped with a handle shaft for direction. A proportional derivative...
Quadrotor or popularly known as quadcopter is an unmanned flying robotic platform that is driven by four fixed rotors. Quadrotors serve as a perfect flying platform in an anonymous and intricate environments eliminating the need to jeopardize human life in such hazardous situations. Apart from serving as a stable flight stage, these can do breathtaking acrobatic and complex maneuvers that are beyond...
This paper presents the results of simulation of several model based and model free attitude controllers of quad-rotor UAVs with an aim to find a simple and effective one suitable for the UAV developed in our lab. The backgrounds of the controllers are also described.
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,...
In force control applications where a robot end-effector is required to interact with the environment or the workpiece, the dynamic of the environment plays an important role. The environment dynamic may influence the performance of the controlled system, especially the performance in transient period. In order to avoid tuning the controller constantly with the changing environment, a robust control...
In this paper, a nonlinear PD-type control law is proposed in position domain and applied to contour tracking control of a robotic manipulator. In the developed control system, the robotic motions are viewed as a master motion, controlled in time domain, and slave motions controlled in position domain. The master motion is used as a reference for the slave motions, and the slave motions are synchronized...
Autonomous Underwater Vehicle (AUV) is a typical system which is characterized by nonlinearity, uncertainty of system parameters, and it is also affected by many external disturbances. Therefore, it is difficult to achieve the accurate AUV motion control, which includes depth control, heading control and so on. In order to improve the stability and robustness of depth control system of AUV, this paper...
In this paper are presented the results of the PID and PD Control Bounded by Hyperbolic Tangent Function control of a robotic structure of 3 degrees of freedom (GLD) this laws are studies on constant reference position and trajectory tracking also are added the mathematical models in order to properly assess the structure, are shown simulations of position in MATLB this values are compared with the...
This paper investigates the motion control of two link (rigid-flexible) manipulator through analysis, computer simulation. An explicit nonlinear dynamic model is developed using assumed mode method. The balance of moments and shear forces are represented by using the boundary conditions. The dynamic model is linearized around the operating point of the system. The linear feedback plus model based...
The human-robot physical interaction systems (HRpI), are platforms designed for the transmission of knowledge, from contact between a human kinesthetic, and a robotic device with inertial dynamic and tribological low. The dynamic of contact for the robotic system is modified to the inertial, gravitational forces and tribology (friction and mechanical vibrations); that represent uncertainty in the...
In this paper, a novel position domain PD sliding mode control (PDC-SMC) law is proposed for nonlinear robotic manipulators with the main purpose of improving contour tracking performance. The new controller takes the advantages of the high contour tracking performance of PD type position domain control (PDC) and the robustness of SMC in order to create a model independent control scheme. Stability...
This paper presents experimentally realized bipedal robotic walking using ideal torque controllers via a novel approach termed the ideal model resolved motion method (IM-RMM), where a system's ideal closed-loop dynamics are integrated forward from the actual state of the hardware to provide desired positions and velocity commands to a PD controller. By combining this method with gaits generated using...
The voice coil motor (VCM) has many excellent features such as high-starting thrust force, silence, low-cost and so on. In this paper, the dynamics of a VCM with the introduction of a lumped uncertainty is studied. It shows that the dynamic characteristics and motor parameters of the VCM are non-linear and time-varying. To resolve this problem, this paper proposes a hybrid control system, which comprised...
Based on the ship vibration motion characteristics, in this paper, it has put forward a new kind of 3 rotations and 2 translations five degrees of freedom parallel mechanism, the 4-CPS/RPS, which suites for shipboard active vibration isolation. The inverse kinematic solution of the 4-CPS/RPS is obtained, the dynamics model is established by using Lagrange method; Then the wave model and ship motion...
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