Autonomous Mobile Robot Design
|
|
|
- Audrey Anthony
- 6 years ago
- Views:
Transcription
1 Autonomous Mobile Robot Design Topic: Guidance and Control Introduction and PID Loops Dr. Kostas Alexis (CSE)
2 Autonomous Robot Challenges How do I control where to go?
3 Autonomous Mobile Robot Design Topic: Basic principles and prerequisites for control Dr. Kostas Alexis (CSE)
4 What is it all about? Control theory is an interdisciplinary branch of engineering and mathematics that deals with the behavior of dynamical systems with inputs, and how their behavior is modified by feedback.
5 What is it all about? Control theory is an interdisciplinary branch of engineering and mathematics that deals with the behavior of dynamical systems with inputs, and how their behavior is modified by feedback. To do that in a systematic way, we should develop a model-based approach on control synthesis.
6 1. Modeling of Dynamic Systems Generic form of dynamic system: x is the state vector, u is the input vector. Generic linear state space form: And given specific output vector:
7 State Space Representation Generic linear (time invariant) state space form: A is the system matrix (nxn), B is the input matrix (nxp), C is the output matrix (qxn), D is the feedforward matrix (qxp). In general a MIMO system (Multi-Input, Multi-Output) In fact a Linear Time Invariant system (LTI). More complex representations exist.
8 Transfer Function Representation Linear time invariant can be represented in the frequency domain using the Laplace Transform. Laplace Transform: Transfer function form to represent Single Input Single Output (SISO) relationships: And equivalently: p 1 p n correspond to the poles and z 1 z m to the zeros.
9 State Space to Transfer Function Transformation from state space to transfer function: Possibly leads to multiple transfer functions
10 Dynamic system example System ordinary differential equation: Or in state space form: Or in transfer function form:
11 2. Analysis of Dynamic Systems Time-Domain Response of an LTI system Frequency-Domain Response of an LTI system Stability of an LTI system
12 Time-Domain Response The time response of a linear dynamic system consists of the sum of the transient response which depends on the initial conditions and the steadystate response which depends on the system input. These correspond to the free (homogeneous or zero input) and the forced (inhomogeneous or non-zero input) solutions of the governing differential equations respectively.
13 Frequency-Domain Response All the examples presented in this tutorial are modeled by linear constant coefficient differential equations and are thus linear time-invariant (LTI). LTI systems have the extremely important property that if the input to the system is sinusoidal, then the steady-state output will also be sinusoidal at the same frequency but in general with different magnitude and phase. These magnitude and phase differences as a function of frequency comprise the frequency response of the system. The frequency response of a system can be found from the transfer function in the following way: create a vector of frequencies (varying between zero or "DC" to infinity) and compute the value of the plant transfer function at those frequencies. If G(s) is the open-loop transfer function of a system and ω is the frequency vector, we then plot G(jω) versus ω. Since G(jω) is a complex number, we can plot both its magnitude and phase (the Bode Plot) or its position in the complex plane (the Nyquist Diagram). Both methods display the same information in different ways.
14 Stability Bounded Input Bounded Output (BIBO) sense: a system is stable if the output remains bounded for all bounded (finite) inputs. Practically, this means that the system will not blow up while in operation. Using transfer functions: the system is stable if ALL of the poles are in the left complex plane. If any of them is on the right then the system is unstable. If any of them has zero real component, the system is critically stable.
15 Stability Bounded Input Bounded Output (BIBO) sense: a system is stable if the output remains bounded for all bounded (finite) inputs. Practically, this means that the system will not blow up while in operation. Using transfer functions: the system is stable if ALL of the poles are in the left complex plane. If any of them is on the right then the system is unstable. If any of them has zero real component, the system is critically stable. Stable region
16 Stability Bounded Input Bounded Output (BIBO) sense: a system is stable if the output remains bounded for all bounded (finite) inputs. Practically, this means that the system will not blow up while in operation. Using transfer functions: the system is stable if ALL of the poles are in the left complex plane. If any of them is on the right then the system is unstable. If any of them has zero real component, the system is critically stable. Unstable region
17 Stability Bounded Input Bounded Output (BIBO) sense: a system is stable if the output remains bounded for all bounded (finite) inputs. Practically, this means that the system will not blow up while in operation. Using transfer functions: the system is stable if ALL of the poles are in the left complex plane. If any of them is on the right then the system is unstable. If any of them has zero real component, the system is critically stable. Critical stability
18 Stability Bounded Input Bounded Output (BIBO) sense: a system is stable if the output remains bounded for all bounded (finite) inputs. Practically, this means that the system will not blow up while in operation. Using transfer functions: the system is stable if ALL of the poles are in the left complex plane. If any of them is on the right then the system is unstable. If any of them has zero real component, the system is critically stable. Stable region oscillations No oscillations oscillations
19 1 st Order Systems First order system representation: With pole a, time constant τ and dcgain k dc Time constant is the value that the system reaches 63% of its steady-state value.
20 2 nd Order Systems First order system representation: Or in transfer function form: dcgain: damping ratio: (if ζ < 1 system is underdamped) natural frequency: poles/zeros:
21 2 nd Order Systems Pole map
22 2 nd Order Systems Time response
23 3. The Root Locus Method Consider a transfer function and a gain K: The closed-loop transfer function takes the form: Thus the closed-loop poles are the solutions of: And if we write: Then the poles are the solutions of:
24 Root Locus Method example Consider the transfer function:
25 Root Locus Method example Consider the transfer function: Use a single-gain Controller (K):
26 Root Locus Method example Consider the transfer function: Root locus for a gain K:
27 5. State Space Control Consider the system: How do we define observability? How do we define controllability? How do we design a simple controller to tune the dynamic response as desired? To place the poles where desired?
28 State Space system Stability Consider the system: Stability: The system is stable if the eigenvalues of matrix A are all with negative real part.
29 State Space system Observability Consider the system: Observability: The system is observable if the initial state x 0 can be determined from the system output, y(t), over some finite time t 0 < t < t f. For LTI systems, a system is observable if the observability matrix is of full rank.
30 Rank of a Matrix The rank of a matrix A is the dimension of the vector space generated (or spanned) by its columns. This is the same as the dimension of the space spanned by its rows. Rank row = Rank column It is a measure of the "nondegenerateness" of the system of linear equations and linear transformation encoded by A
31 Rank of a Matrix The rank of a matrix A is the dimension of the vector space generated (or spanned) by its columns. This is the same as the dimension of the space spanned by its rows. Rank row = Rank column It is a measure of the "nondegenerateness" of the system of linear equations and linear transformation encoded by A Rank = 2
32 State Space system Controllability Consider the system: Controllability: A system is controllable if there exists a control input, u(t), that transfers any state of the system to zero in finite time. For LTI systems, a system is controllable if the controllability matrix is of full rank.
33 Pole Placement Consider the system: Then the following structure is correct:
34 Pole Placement Assuming zero reference: The state space equations of the closed loop system take the form: The pole placement techniques is about how to find the gain matrix K such that the poles of the closed-loop system go to desired locations. This is under the assumption of an LTI system and infinite actuator dynamic range and bandwidth.
35 Autonomous Mobile Robot Design Topic: PID Flight Control for Multirotors Dr. Kostas Alexis (CSE)
36 MAV Dynamics To append the forces and moments we need to combine their formulation with Next step: append the MAV forces and moments
37 MAV Dynamics MAV forces in the body frame: Moments in the body frame:
38 MAV Dynamics MAV forces in the body frame: Moments in the body frame:
39 Control System Block Diagram There are simpler
40 Control System Block Diagram Simplified loop
41 Controlling a Multirotor along the x-axis Assume a single-axis case. The system has to coordinate its pitching motion and thrust to move to the desired point ahead of its axis. Roll is considered to be zero, yaw is considered to be constant. No initial velocity. No motion is expressed in any other axis. A system of only two degrees of freedom.
42 Controlling a Multirotor along the x-axis Simplified linear dynamics
43 Controlling a Multirotor along the x-axis Explanation of translation model
44 Controlling a Multirotor along the x-axis Simplified linear dynamics How does this system behave?
45 Controlling a Multirotor along the x-axis
46 Controlling a Multirotor along the x-axis
47 Controlling a Multirotor along the x-axis Simplified linear dynamics How to control this system? Most common way: use of PD controllers
48 Controlling a Multirotor along the x-axis Decoupled Control Structure
49 Controlling a Multirotor along the x-axis Decoupled Control Structure How to select the PD gains?
50 A mini introduction to PID Control PID = Proportional-Integral-Derivative feedback control It corresponds to one of the most commonly used controllers used in industry. It's success is based on its capacity to efficiently and robustly control a variety of processes and dynamic systems, while having an extremely simple structure and intuitive tuning procedures. Not comparable in performance with modern control strategies, but still the most common starting point How to select the PD gains?
51 Controlling a Multirotor along the x-axis MATLAB Implementation
52 Controlling a Multirotor along the x-axis MATLAB Implementation
53 Controlling a Multirotor along the x-axis
54 Controlling a Multirotor along the x-axis MATLAB Implementation
55 Controlling a Multirotor along the x-axis
56 Controlling a Multirotor along the x-axis MATLAB Implementation
57 Controlling a Multirotor along the x-axis
58 Real-life Limitations The control margins of the aerial vehicle have limits and therefore the PID controller has to be designed account for these constraints. The integral term needs special caution due to the often critically stable or unstable characteristics expressed by unmanned aircraft. With the exception of hover/or trimmed-flight, an aerial vehicle is a nonlinear system. As the PID is controller, it naturally cannot maintain an equally good behavior for the full flight envelope of the system. A variety of techniques such as Gain scheduling are employed to deal with this fact.
59 Autonomous Mobile Robot Design Topic: LQR Flight Control for Multirotors Dr. Kostas Alexis (CSE)
60 Controlling a Multirotor along the x-axis Assume a single-axis multirotor. The system has to coordinate its pitching motion and thrust to move to the desired point ahead of its axis. Roll is considered to be zero, yaw is considered to be constant. No initial velocity. No motion is expressed in any other axis. A system of only two degrees of freedom.
61 Controlling a Multirotor along the x-axis Simplified linear dynamics How does this system behave?
62 Optimal Model-Based Control Use model knowledge to design optimal control behaviors. The employed model must be simultaneously sufficiently accurate but also simple enough to enable efficient control computation. Optimal control can support linear and nonlinear systems as well as systems subject to state, output and input constraints. Further extensions (e.g. for hybrid systems) also exist. Established method for unconstrained linear systems regulation: Linear Quadratic Regulator (LQR) Generalization: Linear Quadratic Gaussian (LQG) control
63 Linear Quadratic Regulator Consider the system and suppose we want to design state feedback control u=fx to stabilize the system. The design of F is a trade-off between the transit response and the control effort. The optimal control approach to this design trade-off is to define the performance index (cost functional): and search for the control u=fx that minimizes this index. Q is an nxm symmetric positive semidefinite matrix and R is an mxm symmetric positive definite matrix.
64 Linear Quadratic Regulator The matrix Q can be written as Q=M T M, where M is a pxn matrix, with p n. With this representation: Where z=mx can be viewed as a controlled input. Optimal Control Problem: Find u(t)=fx(t) to maximize J subject to the model: Since J is defined by an integral over, the first question we need to address is: Under what conditions will J exist and be finite?
65 Write J as: Linear Quadratic Regulator is a monotonically increasing function of t f. Hence, as either converges to a finite limit or diverges to infinity. Under what conditions will be finite?
66 Linear Quadratic Regulator Recall that (A,B) is stabilizable if the uncontrollable eigenvalues of A, if any, have negative real parts. Notice that (A,B) is stabilizable if (A,B) is controllable or Definition: (A,C) is detectable if the observable eigenvalues of A, if any, have negative real parts. Lemma 1: Suppose (A,B) is stabilizable, (A,M) is detectable, where Q=M T M, and u(t)=fx(t). Then, J is finite for every if and only if:
67 Remarks: Linear Quadratic Regulator The need for (A,B) to be stabilizable is clear, for otherwise there would be no F such that: To see why detectability of (A,M) is needed, consider: (A,B) is controllable, but (A,M) is not detectable The control is clearly optimal and results in a finite J but it does not stabilize the system because
68 Linear Quadratic Regulator Lemma 2: For any stabilizing control u(t)=fx(t), the cost given by: where W is a symmetric positive semidefinite matrix that satisfies the Lyapunov equation: Remark: The control u(t)=fx(t) is stabilizing if:
69 Linear Quadratic Regulator Theorem: Consider the system: and the performance index: where Q=M T M, R is symmetric and positive definite, (A,B) is stabilizable, and (A,M) is detectable. The optimal control is: where P is the symmetric positive semidefinite solution of the Algebraic Riccati Equation (ARE):
70 Remarks: Linear Quadratic Regulator Since the control is stabilizing: The control is optimal among all square integratable signals u(t), not just among u(t)=fx(t) The Ricatti equation can have multiple solutions, but only one of them is positive semidefinite.
71 Linear Quadratic Regulator Typical penalty matrices selection: t si is the desired settling time of xi x imax is a constraint on x i u imax is a constraint on u i ρ is chosen to tradeoff regulation versus control effort
72 Linear Quadratic Regulator LQR Loop (F=K)
73 MATLAB Design Example Recall:
74 MATLAB Design Example
75 MATLAB Design Example
76 MATLAB Design Example [K,S,e] = dlqr(a,b,q,r,n)
77 MATLAB Design Example
78 MATLAB Design Example
79 MATLAB Design Example
80 MATLAB Design Example
81 MATLAB Design Example
82 MATLAB Aircraft Pitch Example For a step reference of 0.2 radians, the design criteria are the following. 1. Overshoot less than 10% 2. Rise time less than 2 seconds 3. Settling time less than 10 seconds 4. Steady-state error less than 2%
83 MATLAB Aircraft Pitch Example For a step reference of 0.2 radians, the design criteria are the following. 1. Overshoot less than 10% 2. Rise time less than 2 seconds 3. Settling time less than 10 seconds 4. Steady-state error less than 2%
84 MATLAB Aircraft Pitch Example
85 MATLAB Aircraft Pitch Example
86 MATLAB Aircraft Pitch Example
87 MATLAB Aircraft Pitch Example
88 MATLAB Aircraft Pitch Example
89 MATLAB Aircraft Pitch Example
90 MATLAB Aircraft Pitch Example
91 Code Examples and Tasks tlab/control-systems/gain-scheduled-three-loop-aircraftautopilot tlab/control-systems/lqr tlab/control-systems/pid-cruise-control tlab/control-systems/pid
92 How does this apply to my project? To control the state of the robot and make it follow the desired trajectory.
93 Find out more §ion=controlstatespace
94 Thank you! Please ask your question!
Dr Ian R. Manchester Dr Ian R. Manchester AMME 3500 : Review
Week Date Content Notes 1 6 Mar Introduction 2 13 Mar Frequency Domain Modelling 3 20 Mar Transient Performance and the s-plane 4 27 Mar Block Diagrams Assign 1 Due 5 3 Apr Feedback System Characteristics
João P. Hespanha. January 16, 2009
LINEAR SYSTEMS THEORY João P. Hespanha January 16, 2009 Disclaimer: This is a draft and probably contains a few typos. Comments and information about typos are welcome. Please contact the author at hespanha@ece.ucsb.edu.
Autonomous Mobile Robot Design
Autonomous Mobile Robot Design Topic: Micro Aerial Vehicle Dynamics Dr. Kostas Alexis (CSE) Goal of this lecture The goal of this lecture is to derive the equations of motion that describe the motion of
Outline. Classical Control. Lecture 1
Outline Outline Outline 1 Introduction 2 Prerequisites Block diagram for system modeling Modeling Mechanical Electrical Outline Introduction Background Basic Systems Models/Transfers functions 1 Introduction
Contents. PART I METHODS AND CONCEPTS 2. Transfer Function Approach Frequency Domain Representations... 42
Contents Preface.............................................. xiii 1. Introduction......................................... 1 1.1 Continuous and Discrete Control Systems................. 4 1.2 Open-Loop
Contents. 1 State-Space Linear Systems 5. 2 Linearization Causality, Time Invariance, and Linearity 31
Contents Preamble xiii Linear Systems I Basic Concepts 1 I System Representation 3 1 State-Space Linear Systems 5 1.1 State-Space Linear Systems 5 1.2 Block Diagrams 7 1.3 Exercises 11 2 Linearization
Video 5.1 Vijay Kumar and Ani Hsieh
Video 5.1 Vijay Kumar and Ani Hsieh Robo3x-1.1 1 The Purpose of Control Input/Stimulus/ Disturbance System or Plant Output/ Response Understand the Black Box Evaluate the Performance Change the Behavior
Learn2Control Laboratory
Learn2Control Laboratory Version 3.2 Summer Term 2014 1 This Script is for use in the scope of the Process Control lab. It is in no way claimed to be in any scientific way complete or unique. Errors should
Feedback Control of Linear SISO systems. Process Dynamics and Control
Feedback Control of Linear SISO systems Process Dynamics and Control 1 Open-Loop Process The study of dynamics was limited to open-loop systems Observe process behavior as a result of specific input signals
Control Systems. Design of State Feedback Control.
Control Systems Design of State Feedback Control chibum@seoultech.ac.kr Outline Design of State feedback control Dominant pole design Symmetric root locus (linear quadratic regulation) 2 Selection of closed-loop
State Regulator. Advanced Control. design of controllers using pole placement and LQ design rules
Advanced Control State Regulator Scope design of controllers using pole placement and LQ design rules Keywords pole placement, optimal control, LQ regulator, weighting matrixes Prerequisites Contact state
AMME3500: System Dynamics & Control
Stefan B. Williams May, 211 AMME35: System Dynamics & Control Assignment 4 Note: This assignment contributes 15% towards your final mark. This assignment is due at 4pm on Monday, May 3 th during Week 13
Linear State Feedback Controller Design
Assignment For EE5101 - Linear Systems Sem I AY2010/2011 Linear State Feedback Controller Design Phang Swee King A0033585A Email: king@nus.edu.sg NGS/ECE Dept. Faculty of Engineering National University
Linear System Theory. Wonhee Kim Lecture 1. March 7, 2018
Linear System Theory Wonhee Kim Lecture 1 March 7, 2018 1 / 22 Overview Course Information Prerequisites Course Outline What is Control Engineering? Examples of Control Systems Structure of Control Systems
Control Systems I. Lecture 7: Feedback and the Root Locus method. Readings: Jacopo Tani. Institute for Dynamic Systems and Control D-MAVT ETH Zürich
Control Systems I Lecture 7: Feedback and the Root Locus method Readings: Jacopo Tani Institute for Dynamic Systems and Control D-MAVT ETH Zürich November 2, 2018 J. Tani, E. Frazzoli (ETH) Lecture 7:
Controls Problems for Qualifying Exam - Spring 2014
Controls Problems for Qualifying Exam - Spring 2014 Problem 1 Consider the system block diagram given in Figure 1. Find the overall transfer function T(s) = C(s)/R(s). Note that this transfer function
Control Systems Lab - SC4070 Control techniques
Control Systems Lab - SC4070 Control techniques Dr. Manuel Mazo Jr. Delft Center for Systems and Control (TU Delft) m.mazo@tudelft.nl Tel.:015-2788131 TU Delft, February 16, 2015 (slides modified from
Dynamic Response. Assoc. Prof. Enver Tatlicioglu. Department of Electrical & Electronics Engineering Izmir Institute of Technology.
Dynamic Response Assoc. Prof. Enver Tatlicioglu Department of Electrical & Electronics Engineering Izmir Institute of Technology Chapter 3 Assoc. Prof. Enver Tatlicioglu (EEE@IYTE) EE362 Feedback Control
Topic # Feedback Control Systems
Topic #1 16.31 Feedback Control Systems Motivation Basic Linear System Response Fall 2007 16.31 1 1 16.31: Introduction r(t) e(t) d(t) y(t) G c (s) G(s) u(t) Goal: Design a controller G c (s) so that the
Course Outline. Higher Order Poles: Example. Higher Order Poles. Amme 3500 : System Dynamics & Control. State Space Design. 1 G(s) = s(s + 2)(s +10)
Amme 35 : System Dynamics Control State Space Design Course Outline Week Date Content Assignment Notes 1 1 Mar Introduction 2 8 Mar Frequency Domain Modelling 3 15 Mar Transient Performance and the s-plane
CYBER EXPLORATION LABORATORY EXPERIMENTS
CYBER EXPLORATION LABORATORY EXPERIMENTS 1 2 Cyber Exploration oratory Experiments Chapter 2 Experiment 1 Objectives To learn to use MATLAB to: (1) generate polynomial, (2) manipulate polynomials, (3)
ẋ n = f n (x 1,...,x n,u 1,...,u m ) (5) y 1 = g 1 (x 1,...,x n,u 1,...,u m ) (6) y p = g p (x 1,...,x n,u 1,...,u m ) (7)
EEE582 Topical Outline A.A. Rodriguez Fall 2007 GWC 352, 965-3712 The following represents a detailed topical outline of the course. It attempts to highlight most of the key concepts to be covered and
Digital Control Engineering Analysis and Design
Digital Control Engineering Analysis and Design M. Sami Fadali Antonio Visioli AMSTERDAM BOSTON HEIDELBERG LONDON NEW YORK OXFORD PARIS SAN DIEGO SAN FRANCISCO SINGAPORE SYDNEY TOKYO Academic Press is
Dr Ian R. Manchester Dr Ian R. Manchester AMME 3500 : Root Locus
Week Content Notes 1 Introduction 2 Frequency Domain Modelling 3 Transient Performance and the s-plane 4 Block Diagrams 5 Feedback System Characteristics Assign 1 Due 6 Root Locus 7 Root Locus 2 Assign
ELEC4631 s Lecture 2: Dynamic Control Systems 7 March Overview of dynamic control systems
ELEC4631 s Lecture 2: Dynamic Control Systems 7 March 2011 Overview of dynamic control systems Goals of Controller design Autonomous dynamic systems Linear Multi-input multi-output (MIMO) systems Bat flight
Control Systems I. Lecture 6: Poles and Zeros. Readings: Emilio Frazzoli. Institute for Dynamic Systems and Control D-MAVT ETH Zürich
Control Systems I Lecture 6: Poles and Zeros Readings: Emilio Frazzoli Institute for Dynamic Systems and Control D-MAVT ETH Zürich October 27, 2017 E. Frazzoli (ETH) Lecture 6: Control Systems I 27/10/2017
Return Difference Function and Closed-Loop Roots Single-Input/Single-Output Control Systems
Spectral Properties of Linear- Quadratic Regulators Robert Stengel Optimal Control and Estimation MAE 546 Princeton University, 2018! Stability margins of single-input/singleoutput (SISO) systems! Characterizations
MECH 6091 Flight Control Systems Final Course Project
MECH 6091 Flight Control Systems Final Course Project F-16 Autopilot Design Lizeth Buendia Rodrigo Lezama Daniel Delgado December 16, 2011 1 AGENDA Theoretical Background F-16 Model and Linearization Controller
Analysis and Synthesis of Single-Input Single-Output Control Systems
Lino Guzzella Analysis and Synthesis of Single-Input Single-Output Control Systems l+kja» \Uja>)W2(ja»\ um Contents 1 Definitions and Problem Formulations 1 1.1 Introduction 1 1.2 Definitions 1 1.2.1 Systems
Chapter 7 Control. Part Classical Control. Mobile Robotics - Prof Alonzo Kelly, CMU RI
Chapter 7 Control 7.1 Classical Control Part 1 1 7.1 Classical Control Outline 7.1.1 Introduction 7.1.2 Virtual Spring Damper 7.1.3 Feedback Control 7.1.4 Model Referenced and Feedforward Control Summary
LQR, Kalman Filter, and LQG. Postgraduate Course, M.Sc. Electrical Engineering Department College of Engineering University of Salahaddin
LQR, Kalman Filter, and LQG Postgraduate Course, M.Sc. Electrical Engineering Department College of Engineering University of Salahaddin May 2015 Linear Quadratic Regulator (LQR) Consider a linear system
Control Systems I Lecture 10: System Specifications
Control Systems I Lecture 10: System Specifications Readings: Guzzella, Chapter 10 Emilio Frazzoli Institute for Dynamic Systems and Control D-MAVT ETH Zürich November 24, 2017 E. Frazzoli (ETH) Lecture
R a) Compare open loop and closed loop control systems. b) Clearly bring out, from basics, Force-current and Force-Voltage analogies.
SET - 1 II B. Tech II Semester Supplementary Examinations Dec 01 1. a) Compare open loop and closed loop control systems. b) Clearly bring out, from basics, Force-current and Force-Voltage analogies..
Lecture 5: Linear Systems. Transfer functions. Frequency Domain Analysis. Basic Control Design.
ISS0031 Modeling and Identification Lecture 5: Linear Systems. Transfer functions. Frequency Domain Analysis. Basic Control Design. Aleksei Tepljakov, Ph.D. September 30, 2015 Linear Dynamic Systems Definition
Table of Laplacetransform
Appendix Table of Laplacetransform pairs 1(t) f(s) oct), unit impulse at t = 0 a, a constant or step of magnitude a at t = 0 a s t, a ramp function e- at, an exponential function s + a sin wt, a sine fun
Topic # Feedback Control
Topic #5 6.3 Feedback Control State-Space Systems Full-state Feedback Control How do we change the poles of the state-space system? Or,evenifwecanchangethepolelocations. Where do we put the poles? Linear
CDS 110b: Lecture 2-1 Linear Quadratic Regulators
CDS 110b: Lecture 2-1 Linear Quadratic Regulators Richard M. Murray 11 January 2006 Goals: Derive the linear quadratic regulator and demonstrate its use Reading: Friedland, Chapter 9 (different derivation,
Answers to multiple choice questions
Answers to multiple choice questions Chapter 2 M2.1 (b) M2.2 (a) M2.3 (d) M2.4 (b) M2.5 (a) M2.6 (b) M2.7 (b) M2.8 (c) M2.9 (a) M2.10 (b) Chapter 3 M3.1 (b) M3.2 (d) M3.3 (d) M3.4 (d) M3.5 (c) M3.6 (c)
DESIGN AND DEVELOPMENT OF THE LQR OPTIMAL CONTROLLER FOR THE UNMANNED AERIAL VEHICLE
Review of the Air Force Academy No.1 (36)/2018 DESIGN AND DEVELOPMENT OF THE LQR OPTIMAL CONTROLLER FOR THE UNMANNED AERIAL VEHICLE Róbert SZABOLCSI Óbuda University, Budapest, Hungary (szabolcsi.robert@bgk.uni-obuda.hu)
ECSE 4962 Control Systems Design. A Brief Tutorial on Control Design
ECSE 4962 Control Systems Design A Brief Tutorial on Control Design Instructor: Professor John T. Wen TA: Ben Potsaid http://www.cat.rpi.edu/~wen/ecse4962s04/ Don t Wait Until The Last Minute! You got
Mech 6091 Flight Control System Course Project. Team Member: Bai, Jing Cui, Yi Wang, Xiaoli
Mech 6091 Flight Control System Course Project Team Member: Bai, Jing Cui, Yi Wang, Xiaoli Outline 1. Linearization of Nonlinear F-16 Model 2. Longitudinal SAS and Autopilot Design 3. Lateral SAS and Autopilot
Übersetzungshilfe / Translation aid (English) To be returned at the end of the exam!
Prüfung Regelungstechnik I (Control Systems I) Prof. Dr. Lino Guzzella 3.. 24 Übersetzungshilfe / Translation aid (English) To be returned at the end of the exam! Do not mark up this translation aid -
Control Systems II. ETH, MAVT, IDSC, Lecture 4 17/03/2017. G. Ducard
Control Systems II ETH, MAVT, IDSC, Lecture 4 17/03/2017 Lecture plan: Control Systems II, IDSC, 2017 SISO Control Design 24.02 Lecture 1 Recalls, Introductory case study 03.03 Lecture 2 Cascaded Control
Overview of the Seminar Topic
Overview of the Seminar Topic Simo Särkkä Laboratory of Computational Engineering Helsinki University of Technology September 17, 2007 Contents 1 What is Control Theory? 2 History
State Space Control D R. T A R E K A. T U T U N J I
State Space Control D R. T A R E K A. T U T U N J I A D V A N C E D C O N T R O L S Y S T E M S M E C H A T R O N I C S E N G I N E E R I N G D E P A R T M E N T P H I L A D E L P H I A U N I V E R S I
Topic # Feedback Control Systems
Topic #17 16.31 Feedback Control Systems Deterministic LQR Optimal control and the Riccati equation Weight Selection Fall 2007 16.31 17 1 Linear Quadratic Regulator (LQR) Have seen the solutions to the
Design Methods for Control Systems
Design Methods for Control Systems Maarten Steinbuch TU/e Gjerrit Meinsma UT Dutch Institute of Systems and Control Winter term 2002-2003 Schedule November 25 MSt December 2 MSt Homework # 1 December 9
Lecture 9. Introduction to Kalman Filtering. Linear Quadratic Gaussian Control (LQG) G. Hovland 2004
MER42 Advanced Control Lecture 9 Introduction to Kalman Filtering Linear Quadratic Gaussian Control (LQG) G. Hovland 24 Announcement No tutorials on hursday mornings 8-9am I will be present in all practical
Advanced Aerospace Control. Marco Lovera Dipartimento di Scienze e Tecnologie Aerospaziali, Politecnico di Milano
Advanced Aerospace Control Dipartimento di Scienze e Tecnologie Aerospaziali, Politecnico di Milano ICT for control systems engineering School of Industrial and Information Engineering Aeronautical Engineering
CHAPTER 1 Basic Concepts of Control System. CHAPTER 6 Hydraulic Control System
CHAPTER 1 Basic Concepts of Control System 1. What is open loop control systems and closed loop control systems? Compare open loop control system with closed loop control system. Write down major advantages
1 An Overview and Brief History of Feedback Control 1. 2 Dynamic Models 23. Contents. Preface. xiii
Contents 1 An Overview and Brief History of Feedback Control 1 A Perspective on Feedback Control 1 Chapter Overview 2 1.1 A Simple Feedback System 3 1.2 A First Analysis of Feedback 6 1.3 Feedback System
Index. Index. More information. in this web service Cambridge University Press
A-type elements, 4 7, 18, 31, 168, 198, 202, 219, 220, 222, 225 A-type variables. See Across variable ac current, 172, 251 ac induction motor, 251 Acceleration rotational, 30 translational, 16 Accumulator,
Process Modelling, Identification, and Control
Jan Mikles Miroslav Fikar 2008 AGI-Information Management Consultants May be used for personal purporses only or by libraries associated to dandelon.com network. Process Modelling, Identification, and
Chapter 2 Review of Linear and Nonlinear Controller Designs
Chapter 2 Review of Linear and Nonlinear Controller Designs This Chapter reviews several flight controller designs for unmanned rotorcraft. 1 Flight control systems have been proposed and tested on a wide
Course roadmap. Step response for 2nd-order system. Step response for 2nd-order system
ME45: Control Systems Lecture Time response of nd-order systems Prof. Clar Radcliffe and Prof. Jongeun Choi Department of Mechanical Engineering Michigan State University Modeling Laplace transform Transfer
Modeling and Control Overview
Modeling and Control Overview D R. T A R E K A. T U T U N J I A D V A N C E D C O N T R O L S Y S T E M S M E C H A T R O N I C S E N G I N E E R I N G D E P A R T M E N T P H I L A D E L P H I A U N I
Department of Electronics and Instrumentation Engineering M. E- CONTROL AND INSTRUMENTATION ENGINEERING CL7101 CONTROL SYSTEM DESIGN Unit I- BASICS AND ROOT-LOCUS DESIGN PART-A (2 marks) 1. What are the
EL2520 Control Theory and Practice
EL2520 Control Theory and Practice Lecture 8: Linear quadratic control Mikael Johansson School of Electrical Engineering KTH, Stockholm, Sweden Linear quadratic control Allows to compute the controller
ESC794: Special Topics: Model Predictive Control
ESC794: Special Topics: Model Predictive Control Discrete-Time Systems Hanz Richter, Professor Mechanical Engineering Department Cleveland State University Discrete-Time vs. Sampled-Data Systems A continuous-time
MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Mechanical Engineering 2.04A Systems and Controls Spring 2013
MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Mechanical Engineering 2.04A Systems and Controls Spring 2013 Problem Set #4 Posted: Thursday, Mar. 7, 13 Due: Thursday, Mar. 14, 13 1. Sketch the Root
Inverted Pendulum: State-Space Methods for Controller Design
1 de 12 18/10/2015 22:45 Tips Effects TIPS ABOUT BASICS HARDWARE INDEX NEXT INTRODUCTION CRUISE CONTROL MOTOR SPEED MOTOR POSITION SYSTEM MODELING ANALYSIS Inverted Pendulum: State-Space Methods for Controller
Lecture plan: Control Systems II, IDSC, 2017
Control Systems II MAVT, IDSC, Lecture 8 28/04/2017 G. Ducard Lecture plan: Control Systems II, IDSC, 2017 SISO Control Design 24.02 Lecture 1 Recalls, Introductory case study 03.03 Lecture 2 Cascaded
AA/EE/ME 548: Problem Session Notes #5
AA/EE/ME 548: Problem Session Notes #5 Review of Nyquist and Bode Plots. Nyquist Stability Criterion. LQG/LTR Method Tuesday, March 2, 203 Outline:. A review of Bode plots. 2. A review of Nyquist plots
Analysis of Discrete-Time Systems
TU Berlin Discrete-Time Control Systems 1 Analysis of Discrete-Time Systems Overview Stability Sensitivity and Robustness Controllability, Reachability, Observability, and Detectabiliy TU Berlin Discrete-Time
EE C128 / ME C134 Final Exam Fall 2014
EE C128 / ME C134 Final Exam Fall 2014 December 19, 2014 Your PRINTED FULL NAME Your STUDENT ID NUMBER Number of additional sheets 1. No computers, no tablets, no connected device (phone etc.) 2. Pocket
ECE317 : Feedback and Control
ECE317 : Feedback and Control Lecture : Routh-Hurwitz stability criterion Examples Dr. Richard Tymerski Dept. of Electrical and Computer Engineering Portland State University 1 Course roadmap Modeling
KINGS COLLEGE OF ENGINEERING DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING
KINGS COLLEGE OF ENGINEERING DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING QUESTION BANK SUB.NAME : CONTROL SYSTEMS BRANCH : ECE YEAR : II SEMESTER: IV 1. What is control system? 2. Define open
Control Systems I. Lecture 5: Transfer Functions. Readings: Emilio Frazzoli. Institute for Dynamic Systems and Control D-MAVT ETH Zürich
Control Systems I Lecture 5: Transfer Functions Readings: Emilio Frazzoli Institute for Dynamic Systems and Control D-MAVT ETH Zürich October 20, 2017 E. Frazzoli (ETH) Lecture 5: Control Systems I 20/10/2017
Quadrotor Modeling and Control
16-311 Introduction to Robotics Guest Lecture on Aerial Robotics Quadrotor Modeling and Control Nathan Michael February 05, 2014 Lecture Outline Modeling: Dynamic model from first principles Propeller
Control of Manufacturing Processes
Control of Manufacturing Processes Subject 2.830 Spring 2004 Lecture #19 Position Control and Root Locus Analysis" April 22, 2004 The Position Servo Problem, reference position NC Control Robots Injection
Richiami di Controlli Automatici
Richiami di Controlli Automatici Gianmaria De Tommasi 1 1 Università degli Studi di Napoli Federico II detommas@unina.it Ottobre 2012 Corsi AnsaldoBreda G. De Tommasi (UNINA) Richiami di Controlli Automatici
Here represents the impulse (or delta) function. is an diagonal matrix of intensities, and is an diagonal matrix of intensities.
19 KALMAN FILTER 19.1 Introduction In the previous section, we derived the linear quadratic regulator as an optimal solution for the fullstate feedback control problem. The inherent assumption was that
Aircraft Stability & Control
Aircraft Stability & Control Textbook Automatic control of Aircraft and missiles 2 nd Edition by John H Blakelock References Aircraft Dynamics and Automatic Control - McRuler & Ashkenas Aerodynamics, Aeronautics
MODERN CONTROL DESIGN
CHAPTER 8 MODERN CONTROL DESIGN The classical design techniques of Chapters 6 and 7 are based on the root-locus and frequency response that utilize only the plant output for feedback with a dynamic controller
Exam. 135 minutes + 15 minutes reading time
Exam January 23, 27 Control Systems I (5-59-L) Prof. Emilio Frazzoli Exam Exam Duration: 35 minutes + 5 minutes reading time Number of Problems: 45 Number of Points: 53 Permitted aids: Important: 4 pages
Homework 7 - Solutions
Homework 7 - Solutions Note: This homework is worth a total of 48 points. 1. Compensators (9 points) For a unity feedback system given below, with G(s) = K s(s + 5)(s + 11) do the following: (c) Find the
Problem Set 4 Solution 1
Massachusetts Institute of Technology Department of Electrical Engineering and Computer Science 6.245: MULTIVARIABLE CONTROL SYSTEMS by A. Megretski Problem Set 4 Solution Problem 4. For the SISO feedback
Process Control & Instrumentation (CH 3040)
First-order systems Process Control & Instrumentation (CH 3040) Arun K. Tangirala Department of Chemical Engineering, IIT Madras January - April 010 Lectures: Mon, Tue, Wed, Fri Extra class: Thu A first-order
Analysis of Discrete-Time Systems
TU Berlin Discrete-Time Control Systems TU Berlin Discrete-Time Control Systems 2 Stability Definitions We define stability first with respect to changes in the initial conditions Analysis of Discrete-Time
EE C128 / ME C134 Feedback Control Systems
EE C128 / ME C134 Feedback Control Systems Lecture Additional Material Introduction to Model Predictive Control Maximilian Balandat Department of Electrical Engineering & Computer Science University of
Time Response of Systems
Chapter 0 Time Response of Systems 0. Some Standard Time Responses Let us try to get some impulse time responses just by inspection: Poles F (s) f(t) s-plane Time response p =0 s p =0,p 2 =0 s 2 t p =
Introduction to Feedback Control
Introduction to Feedback Control Control System Design Why Control? Open-Loop vs Closed-Loop (Feedback) Why Use Feedback Control? Closed-Loop Control System Structure Elements of a Feedback Control System
ECEn 483 / ME 431 Case Studies. Randal W. Beard Brigham Young University
ECEn 483 / ME 431 Case Studies Randal W. Beard Brigham Young University Updated: December 2, 2014 ii Contents 1 Single Link Robot Arm 1 2 Pendulum on a Cart 9 3 Satellite Attitude Control 17 4 UUV Roll
(b) A unity feedback system is characterized by the transfer function. Design a suitable compensator to meet the following specifications:
1. (a) The open loop transfer function of a unity feedback control system is given by G(S) = K/S(1+0.1S)(1+S) (i) Determine the value of K so that the resonance peak M r of the system is equal to 1.4.
Automatic Control II Computer exercise 3. LQG Design
Uppsala University Information Technology Systems and Control HN,FS,KN 2000-10 Last revised by HR August 16, 2017 Automatic Control II Computer exercise 3 LQG Design Preparations: Read Chapters 5 and 9
Positioning Servo Design Example
Positioning Servo Design Example 1 Goal. The goal in this design example is to design a control system that will be used in a pick-and-place robot to move the link of a robot between two positions. Usually
EE C128 / ME C134 Fall 2014 HW 8 - Solutions. HW 8 - Solutions
EE C28 / ME C34 Fall 24 HW 8 - Solutions HW 8 - Solutions. Transient Response Design via Gain Adjustment For a transfer function G(s) = in negative feedback, find the gain to yield a 5% s(s+2)(s+85) overshoot
Control of Mobile Robots
Control of Mobile Robots Regulation and trajectory tracking Prof. Luca Bascetta (luca.bascetta@polimi.it) Politecnico di Milano Dipartimento di Elettronica, Informazione e Bioingegneria Organization and
Control Systems I. Lecture 2: Modeling. Suggested Readings: Åström & Murray Ch. 2-3, Guzzella Ch Emilio Frazzoli
Control Systems I Lecture 2: Modeling Suggested Readings: Åström & Murray Ch. 2-3, Guzzella Ch. 2-3 Emilio Frazzoli Institute for Dynamic Systems and Control D-MAVT ETH Zürich September 29, 2017 E. Frazzoli
INTRODUCTION TO DIGITAL CONTROL
ECE4540/5540: Digital Control Systems INTRODUCTION TO DIGITAL CONTROL.: Introduction In ECE450/ECE550 Feedback Control Systems, welearnedhow to make an analog controller D(s) to control a linear-time-invariant
ECE317 : Feedback and Control
ECE317 : Feedback and Control Lecture : Stability Routh-Hurwitz stability criterion Dr. Richard Tymerski Dept. of Electrical and Computer Engineering Portland State University 1 Course roadmap Modeling
Systems Analysis and Control
Systems Analysis and Control Matthew M. Peet Arizona State University Lecture 21: Stability Margins and Closing the Loop Overview In this Lecture, you will learn: Closing the Loop Effect on Bode Plot Effect
D(s) G(s) A control system design definition
R E Compensation D(s) U Plant G(s) Y Figure 7. A control system design definition x x x 2 x 2 U 2 s s 7 2 Y Figure 7.2 A block diagram representing Eq. (7.) in control form z U 2 s z Y 4 z 2 s z 2 3 Figure
FATIMA MICHAEL COLLEGE OF ENGINEERING & TECHNOLOGY
FATIMA MICHAEL COLLEGE OF ENGINEERING & TECHNOLOGY Senkottai Village, Madurai Sivagangai Main Road, Madurai - 625 020. An ISO 9001:2008 Certified Institution DEPARTMENT OF ELECTRONICS AND COMMUNICATION
Problem Value Score Total 100/105
RULES This is a closed book, closed notes test. You are, however, allowed one piece of paper (front side only) for notes and definitions, but no sample problems. The top half is the same as from the first
A Comparative Study on Automatic Flight Control for small UAV
Proceedings of the 5 th International Conference of Control, Dynamic Systems, and Robotics (CDSR'18) Niagara Falls, Canada June 7 9, 18 Paper No. 13 DOI: 1.11159/cdsr18.13 A Comparative Study on Automatic
Dr Ian R. Manchester
Week Content Notes 1 Introduction 2 Frequency Domain Modelling 3 Transient Performance and the s-plane 4 Block Diagrams 5 Feedback System Characteristics Assign 1 Due 6 Root Locus 7 Root Locus 2 Assign
Lecture 2: Discrete-time Linear Quadratic Optimal Control
ME 33, U Berkeley, Spring 04 Xu hen Lecture : Discrete-time Linear Quadratic Optimal ontrol Big picture Example onvergence of finite-time LQ solutions Big picture previously: dynamic programming and finite-horizon
Robot Dynamics - Rotary Wing UAS: Control of a Quadrotor
Robot Dynamics Rotary Wing AS: Control of a Quadrotor 5-85- V Marco Hutter, Roland Siegwart and Thomas Stastny Robot Dynamics - Rotary Wing AS: Control of a Quadrotor 7..6 Contents Rotary Wing AS. Introduction
MAE 142 Homework #5 Due Friday, March 13, 2009
MAE 142 Homework #5 Due Friday, March 13, 2009 Please read through the entire homework set before beginning. Also, please label clearly your answers and summarize your findings as concisely as possible.