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In this paper, we present a distributive target-centric formation controller with saturated control action for multiple unmanned aerial vehicles (UAVs). The desired target-centric formation is maintained using consensus protocol. We show that if there exists at least one vehicle in the group of agents who has the complete target information and corresponding communication graph is connected, then...
The focus of this paper is to present our solution in efficiently finding the trajectory of an information delivering UAV in a communication network to minimize delays, avoiding collision with a static or moving obstacle. The UAV can gather only limited information about the obstacle due to the limited sensing capability, so the estimates of the obstacle's size, speed and moving direction are used...
In this paper, the Zhang-gradient (ZG) method, which is a combination of Zhang dynamics (ZD) and gradient dynamics (GD) methods, is presented for solving the tracking control problem of a difficult example system with one control input fixed. Instead of using GD twice more, we only use GD once more for this system in the paper. Besides, simulation verifications further illustrate that the proposed...
In this paper, we consider the problem of simultaneously synthesizing desired trajectories for both the center of mass (CoM) and zero moment point (ZMP) of a bipedal robot. The approach extends our past work, in which we derived an explicit constraint that ensures boundedness of CoM trajectories for a given reference ZMP trajectory. We parameterize the desired ZMP trajectory by a sequence of basis...
In this paper we consider the problem of mobile robot motion planning in a heterogeneous environment consisting of mandatory to visit zone and prohibited areas. Control system rules synthesis is proposed to be conducted with vaguely defined requirements for object behaviour. Examples of using this method for solving the problem of mobile robot control system synthesis are given.
In order to meet the special control requests of an intercept missile, a new boost-phase guidance law is proposed based on the theory of pesudospcetral method and artificial neural network. A group of optimal trajectories with multiple constraints, obtained by hp-adaptive pesudospcetral method, is used as samples to train the neural network. To show the effect of training patterns on the guidance...
In view of the precise trajectory tracking control problem for unmanned aerial vehicle (UAV), a control method combined nonlinear path-following guidance law with active disturbance rejection control (ADRC) is proposed in this paper. The method consists of outer trajectory control loop and inner attitude control loop. An improved nonlinear path-following guidance method is used in designing the trajectory...
This paper establishes the nonlinear model of the planar inverted pendulum system by using Lagrange equation, then decouples the model around the system's equilibrium position with Taylor series expansion, gets the same linear model in the direction of and. According to the linear optimal control theory, designs a LQR controller, its base cart positioning prior to the pendulum stabilization. Finally,...
Although the static reciprocal calculation has been studied for many centuries, the 1/0 singularity can not be conquered in the static situation. Zhang et al have investigated and solved a rich repertoire of time-varying problems such as the time-varying reciprocal problem. When we regard the reciprocal as a time-varying process, the 1/0 singularity can be conquered unexpectedly but also naturally...
Robust and precise control of piezoelectric actuators is quite challenging due to the existence of strong hysteresis nonlinearities. In this paper, a control strategy is proposed based on the uncertainty and disturbance estimator (UDE) to improve the performance of the positioning control of piezoelectric actuators. Compared to the existing hysteresis inversion based or other robust control strategies,...
In this paper a decentralized formation control law to achieve a desired formation and to avoid collision between agents and obstacles for non-holonomic multi-agent systems is proposed. It is assumed that each agent knows its relative position and can detect any object within the sensor range. The controllers are implemented locally on each agent. Stability conditions for achieving desired formation...
In practice, overhead cranes often suffer from uncertain system parameters such as the payload mass and friction-related coefficients. These uncertainties may seriously degrade the performance of corresponding controllers. Multi-rope cranes may encounter such problem as well. To solve this problem, we develop an adaptive trajectory tracking controller for a four-rope crane in this paper. The proposed...
Motion planning for the autonomous bicycles offers considerable challenges to the area of robotics due to the platform's nonholonomic, underactuated and nonminimum-phase properties. Instability and nontrivial dynamic coupling make the motion planning of the bicycles a rather complex task. In this paper, the motion planning for the autonomous bicycle is formulated as a dynamic constrained optimization...
This paper provides analysis result about effects of parameter variation on mono inverter dual parallel (MIDP) surface mounted permanent magnet synchronous machine (SPMSM) drive system. Parameter variation is natural phenomenon in real system and is caused by manufacturing tolerance, temperature variation, and magnetic saturation. In the MIDP motor drive system, parameter error can be occurs not only...
This paper proposes a control algorithm to solve multiple quadrotor formation problem in a leader-follower configuration. A combination of sliding mode control (SMC) and linear quadratic regulator (LQR) are used for trajectory tracking control of a single robot. Position control, which acts as the outer loop is controlled by LQR for providing the reference attitude angles for the inner loop. SMC used...
The paralleling of synchronous generators is one of the main and frequently implemented power system control tasks. The significant importance of automatic implementation of this task is determined by the need of fast and reliable restoration of an electrical power system (EPS) after emergencies. The value of this task has been dramatically increasing during the last years with the growth of the penetration...
The objective of this paper is to control the angular speed in a model of a DC motor using different control strategies like Model Predictive Control and Linear Quadratic Regulator for comparison purpose. Model Predictive Control approach provides online & offline computation of the optimization law by Multi Parametric Quadratic Programming. The controllers are designed based on the optimal control...
This paper shows that the flux-decay model of a synchronous generator exhibits the property of differential flatness. Differential flatness will be utilized for planning the generator's trajectory as there is a one-to-one correspondence between output curves and trajectories for states and inputs. Flat outputs of the generator are taken to be the generator's complex current injected into the power...
A new family of continuous higher order sliding mode algorithm (CHOSMA) for arbitrary relative degree system via continuous control signal is proposed. The convergence conditions for the third order-CHOSMA algorithm is formulated based on homogeneous Lyapunov function. The formula for algorithm of arbitrary order is also suggested. The simulation results are confirmed the efficiency of the proposed...
In this paper we have applied two types of control on two coupled water tanks, where the dynamic model is nonlinear system. The first control is the sliding mode with linear surface, the advantages of this type of control is the discontinuity behavior which can be applied to variable structure systems (VSS) and its good robustness against the injected disturbances, and/or the noise, and finally unaffected...
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