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The forward kinematics analysis of the six-degree-of-freedom(DOF) spindle-coupled road simulator (SCRS) with a complex hybrid serial-parallel mechanism(HSPM) has been performed. The forward kinematics with an efficient method is significant for control, singularity and workspace analysis of SCRS. Applying the vector matrix theory, the geometric restriction function was expressed in concise and compact...
C.L.E.O. (Cleaner of Lower Earth Orbit) is a space architecture concept that aims at removing debris, ranged between 1 to 10 cm and even larger in diameter. The module consists of two systems; the capturing mechanism and module stabilization. The oncoming debris will be identified using MWIR sensors. Due to the rotatory tendency of the debris, algorithms are used which will find the size, shape and...
In this research, the vibration of a rotating functionally graded carbon nanotube reinforced composite (FG-CNTRC) blade is studied and an active controller scheme is applied to damp these vibrations. The composite blade has been reinforce by single walled carbon nanotubes. The material properties of the FG-CNTRC blade are assumed to be graded in the thickness direction of the beam. These properties...
An unconditionally stable finite difference discretization motivated by the well-known Crank-Nicolson method is used to develop an iterative learning control design for systems whose dynamics are described by a fourth-order partial differential equation. A discrete in time and space model of a deformable rectangular mirror is derived in this setting and forms the basi s for the new design, where a...
When AMT vehicles are driven under crowded conditions, the vehicle speed should be kept at a low level through clutch control. However, owing to relatively large noise to the low vehicle speed, it is difficult to measure the vehicle speed accurately, instead, in this paper, the transmission output shaft speed is adopted to control the vehicle speed. To improve speed tracking performance, a gain-scheduling...
The issue of applying H∞ to control wheeled inverted pendulum is a topic of much concern on account of underactuated and nonlinear model. Authors in [1] selected Lyapunov candidate function presented following HJ equation. Almost previous papers using H - infinity to control WIP must assume that desired accelerator is zero and model is linearized at origin, leading to that system does not obtain global...
In this paper, a nonlinear adaptive super-twisting sliding mode fault tolerant controller is proposed for an uncertain MIMO aircraft system in the present of actuator malfunctions. The dynamics of aircraft attitude motion are divided into outer-loop subsystem and inner-loop subsystem. On this basis, the controllers are designed respectively to ensure the finite-time convergence. Through the online...
The lateral guidance objective is to derive the cross track error towards zero with graceful and stable maneuvers and then to keep it as minimum as possible. A nonlinear sliding surface based lateral guidance scheme is proposed here for Unmanned Aerial Vehicles (UAVs) application with limited actuation. Following the inner (control) and outer (guidance) loop structure, the proposed guidance scheme...
Sliding mode control is known as a robust control approach to maintain system performance and keep it insensitive to disturbances. This paper proposes an integral sliding mode based adaptive robust control for a quadrotor helicopter with parametric uncertainties and disturbances. With the help of the synthesized on-line adaptive scheme, the uncertain parameters can be accurately estimated without...
Active disturbance flow control system depended on the ability of small square-edged rectangular flow effector (FE) generates aerodynamic forces by triggering or stabilizing the FE structures. Computational analysis is performed for supersonic flow runs through a generic slender body equipped with micro-structure on its nose cone. Computational Fluid Dynamics (CFD) studies show that a proportional...
Attitude control is essential for spacecraft to accomplish various tasks, and the attitude tracking is one of the most important attitude control tasks. In this paper the attitude tracking of a rigid spacecraft with bounded input is examined. At the same time, the unknown external disturbances are finite, but their boundaries are unknown. In order to make sure the attitude tracking errors converge...
Structural Health Monitoring (SHM) provides a comprehensive assessment of structural state and damage based on monitoring structural parameters. It has definite practical significance in extending the service life of the structure, reducing the maintenance cost and improving the safety and reliability of the structure. In recent years, there were many aircraft faults founded in the aileron control...
Atomic Force microscopy (AFM) is a powerful technology for observing and developing the micro/nano world, which has been bringing tremendous revolution opportunities to various fields. An AFM's maneuverability can be enhanced via modification into a nanorobotic system with its scanning probe working as the end-effector. The probe's spatial precision can easily reach to nanometer level, which is commonly...
This paper will present an implementation of Extreme Learning Machine (ELM) in Prototype of Hand Typist Robot (HTR). HTR is Typist Robot which is designed for quadriplegic people. HTR consists of two robotic arms with three dynamixel AX-12 that mounted on each arm. It is mean that each arm has 3 DOF. To operate HTR, user has to equipped with compass sensor (CMPS10), installed on the part of body that...
A cart inverted pendulum system is one of the most common case to be considered for testing many control algorithms, since it has some challenging problems associated with non linearity, complexity and underactuated system model. In fact, non-linearity behaviour of the inverted pendulum can be observed easily. Different pendulum angle response can be obtained by giving the same velocity in the cart...
Under extreme adverse flight conditions, such as extreme turbulence, the aircraft controller may send a large control command attempting to counter the resulting forces and moments on the vehicle. In doing so, it may cause the actuator to saturate and operate at its extreme limit. The sustained actuator saturation may cause a loss of control authority and force the aircraft to move towards an undesired...
A novel adaptive fault tolerant control (AFTC) method based on backstepping technique is proposed for the attitude tracking of a quadrotor subject to input saturation and full-state constraints. Both additive and multiplicative actuator faults, model uncertainty and the time-varying constraints are considered. An auxiliary system combined with a command filter is designed to deal with the input saturation...
This paper presents the design of double closed-loop security control structure. This structure is divided into two parts. First of all, sensor-controller-actuator loop completes the transmission of control signal output and measurement signal feedback. During the transmission process, the effects of uncertainties, perturbations, faults and attacks are coupled. Further, controller-detector loop is...
The paper presents the modeling and linear control of shape memory alloy (SMA) actuator. A complete system mathematical model of SMA actuator is constructed, all uncertain parameters are evaluated through nonlinear least squares method from Matlab parameter estimation tool. The feedback linearization (FBL) theory is applied, The SMA actuator system is transformed from nonlinear system to linear system...
In order to solve the problem of precise trajectory tracking control for a quadrotor in the presence of external disturbance and system model parameter uncertainty, a nonlinear trajectory tracking controller based on sliding mode for the quadrotor is designed. In this paper, the mathematical model of the QBall2 quadrotor considering the characteristics of the actuator is established and the virtual...
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