Design of Advanced Control Techniques for an Underwater Vehicle
|
|
- Barrie Grant
- 5 years ago
- Views:
Transcription
1 Design of Advanced Control Techniques for an Underwater Vehicle Divine Maalouf Advisors: Vincent Creuze Ahmed Chemori René Zapata 5 juillet 2012
2 OUTLINE I. Introduction: Problems/Challenges II. Modeling and State of the Art III. Proposed Solutions IV. Experimental Platform V. Experimental Results VI. Summary 2 1
3 Objective Make the robot follow a desired trajectory in presence of parameter uncertainties and variations in the model. 3 2
4 Design and implementation of control approaches for trajectory following on a small underwater vehicle Inherent Problems o o o o o o Highly nonlinear dynamics Strong uncertainties Variation of the model parameters Immeasurable coordinates: Strong coupling in dynamics High hysteresis in the thrusters AC-ROV (Acces Ltd) Actuation: 6 DOF 6 Thrusters 5 actuated DOF Sensors: Camera Depth sensor IMU 4 3
5 Motion Variables for a Marine Vessel [SNAME1950] Dynamic Modeling [Fossen2002] M C( ) J( ) D( ) G( ) ν [ u v w p q r] Vector of velocities in the body frame Τ η [ x y z Vector of coordinates Φ θ ψ] position and angular Τ in the earth frame Forces produced by the thrusters M,C,D G τ J M odel matrices (M ass,coriolis, Damping) Vector of gravitation/buoyancy forces Vector of control inputs Transformation matrix 5 4
6 5 Main control schemes used in underwater robotics Classical schemes Robust schemes Adaptive schemes Hybrid schemes Other schemes PID and acceleration feedback [Fossen2002] Nonlinear State Feedback [Fossen2002] Nonlinear Output Feeback [Adhami2011] H_inf approaches [Roche2011] Sliding Mode [Akakaya2009] Higher Order Sliding Mode [Salgado2004] Regressor based Methods [Antonelli2001] Nonregressor Based methods [Zhao2005] Jacobian Transpose based Controller [Sun2009] Fuzzy Sliding Mode [Marzbanrad 2011] Adaptive Fuzzy Sliding Mode [Bessa2008] Backstepping/ Adaptive [Lapierre2006] Reinforcement learning [ElFakdi2008] Fuzzy logic [Chang2003] Predictive control [Steenson 2012]
7 Goal Trajectory following in presence of uncertainties and parameters changes Proposed Solutions Adaptive Control Law Estimation of z Robustness towards disturbances 2 nd Validation Real time experimental results 1 st Validation Matlab Simulations 7 6
8 designed control schemes Solution 1 classical PID Solution 2 nonlinear adaptive state feedback Solution 3 nonlinear L1 adaptive state feedback Scenario1 nominal conditions Scenario 2 robustness towards uncertainties added buoyancy added damping Scenario 3 external disturbances rejection waves mechanical shock 8 7
9 SOLUTION 1 : PROPORTIONAL INTEGRAL DERIVATIVE P K P e( t ) r( t ) e ( t ) t u( t ) y( t ) I K e( t ) dt I 0 D K D de( t dt ) 9 8
10 Solution 1: PID Tuning Method We can describe our system by the integrator plus dead time (IPDT) model : G( s ) a sl e sl Coefficient of the controller for IPDT models to minimize a chosen criterion [Visioli2001]: Integral of Squared Time Multiplied by Square Error with a a1 K, KP, Ti a4l,td a5l L KL 10 9
11 SOLUTION 2: NONLINEAR ADAPTIVE STATE FEEDBACK [FOSSEN2002] parameter update T ( a b,, )J 1 y ˆ ˆ ( a b,, ) ˆ control law ROV commanded acceleration in the body frame b a J 1 ( a n a J ) n K ~ K ~ K ~ dt d D commanded acceleration in the earth frame P ( t ), (t I t 0 ) ~ ~ d d y c ~ 0 c ~ 1 ( c0 and c1 regressor matrix constants) Nonlinear Adaptive State Feedback Controller 11 10
12 SOLUTION 3: L1 ADAPTIVE CONTROL [HOVAKIMYAN2010] 12 11
13 SOLUTION 3: L1 ADAPTIVE CONTROL [HOVAKIMYAN2010] L1 Adaptive Controller Control architecture 1 Controlled system 2 Prediction phase 3 Parameter update 4-5 Control input, with feedback gain k, pre-filter kg and filter D(s)
14 13 MATLAB SIMULATOR Based on Fossen s toolbox [Fossen2002]. Simulation and comparison of control laws. Trajectory Generator ROV Controller Inverse Motor Characteristic Motor Dynamics & ROV s dynamics estimated states State observer measured states
15 AC-ROV industrial Platform View of the modified AC-ROV Prototype Experimental Platform Controlled with a joystick Proportional controller integrated Control PC, Power Input, Emergency stop button, Video in, Tether plug, Ethernet Plug Video capture, Tether, AC-ROV 15 14
16 Control Inputs Depth Response Scenario 1 Nominal Conditions PID Controller Adaptive Controller 16 15
17 Depth Response Control Inputs nominal case floatability increase 16 Scenario 2 Buoyancy Increase 32% Parameter (W-B) PID Controller Adaptive Controller
18 Depth Response Control Inputs Scenario 2 Damping Change PID Controller Adaptive Controller
19 Control Inputs Depth Response Scenario 3 Mechanical Shock mechanical shock PID Controller Adaptive Controller 19 18
20 Control Inputs Depth Response Scenario 3 Disturbing Waves PID Controller Adaptive Controller 20 19
21 Pitch angle (deg) Depth (m) Measured Depth -0.1 Desired Trajectory Time (s) Depth (z) Pitch ϑ L1 Adaptive Control Scenario 1 Nominal Conditions 5 Measured Pitch 0 Desired Trajectory Time (s) Control inputs Estimated parameters and disturbances 21 20
22 Pitch angle (deg) Depth (m) Measured Depth -0.1 Desired Trajectory Time (s) Depth (z) Pitch (ϑ) 5 Measured Pitch 0 Desired Trajectory Time (s) L1 Adaptive Control Scenario 2 Buoyancy Increase 32% Control inputs Estimated parameters and disturbances 21
23 Pitch angle (deg) Depth (m) Depth (z) L1 Adaptive Control Measured Depth -0.1 Desired Trajectory Time (s) Scenario 3 Disturbing Waves Control inputs Pitch (ϑ) Measured Pitch 0 Desired Trajectory Time (s) Estimated parameters and disturbances 23 22
24 Scenario 3 Presence of Waves Scenario 2 Buoyancy Increase 32% Scenario 1 Nominal Conditions L1 ADAPTIVE CONTROL SUMMARY System output: z and ϑ Control input Estimated parameters and disturbances 24 23
25 Depth(m) Depth (m) Control Input (Newton) Depth (m) 24 SUMMARY OF DEPTH CONTROL Scenario 1 Nominal Conditions PID Adaptive Control L1 Adaptive Control 0.1 Noisy Response 0 Filtered Response -0.1 Desired Trajectory Time(s) Noisy Response 0 Filtered Response -0.1 Desired Trajectory Time (s) Noisy Response Filtered Response Desired Trajectory Time (s) Motor Motor Time(s)
26 Problem: Trajectory following in presence of uncertainties, parameters changes and external disturbances Proposed Solutions designed control laws classical PID nonlinear adaptive state feedback nonlinear L1 adaptive state feedback Easy to implement Model independent Gains hard to tune Fails in presence of strong uncertainties Fails in presence of strong disturbances Robustness towards parameters change Robustness towards uncertainties External disturbances rejection Good parameter initialization is needed Large adaptive gains can lead to instability Robustness towards parameter change Robustness towards uncertainties External disturbances rejection Good initialization of parameters not needed Slight increase in computational cost 26 25
From PD to Nonlinear Adaptive Depth-Control of a Tethered Autonomous Underwater Vehicle
Author manuscript, published in "IFAC Joint conference'2013: 5th Symposium on System Structure and Control 11th Workshop on Time-Delay Systems 6th Workshop on Fractional Differentiation and Its Applications,
More informationModel Reference Adaptive Control of Underwater Robotic Vehicle in Plane Motion
Proceedings of the 11th WSEAS International Conference on SSTEMS Agios ikolaos Crete Island Greece July 23-25 27 38 Model Reference Adaptive Control of Underwater Robotic Vehicle in Plane Motion j.garus@amw.gdynia.pl
More informationA new extension of thel 1 adaptive controller to drastically reduce the tracking time lags
9th IFAC Symposium on Nonlinear Control Systems Toulouse, France, September 4-6, 23 ThB2.4 A new extension of thel adaptive controller to drastically reduce the tracking time lags Divine Maalouf Ahmed
More informationHover Control for Helicopter Using Neural Network-Based Model Reference Adaptive Controller
Vol.13 No.1, 217 مجلد 13 العدد 217 1 Hover Control for Helicopter Using Neural Network-Based Model Reference Adaptive Controller Abdul-Basset A. Al-Hussein Electrical Engineering Department Basrah University
More informationFeedback 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
More informationELEC4631 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
More informationVehicle Dynamic Control Allocation for Path Following Moritz Gaiser
Vehicle Dynamic Control Allocation for Path Following Moritz Gaiser INSTITUT FÜR THEORETISCHE ELEKTROTECHNIK UND SYSTEMOPTIMIERUNG (ITE) KIT Die Forschungsuniversität in der Helmholtz-Gemeinschaft www.ite.kit.edu
More informationSemi-Analytical Guidance Algorithm for Fast Retargeting Maneuvers Computation during Planetary Descent and Landing
ASTRA 2013 - ESA/ESTEC, Noordwijk, the Netherlands Semi-Analytical Guidance Algorithm for Fast Retargeting Maneuvers Computation during Planetary Descent and Landing Michèle LAVAGNA, Paolo LUNGHI Politecnico
More informationResearch Article A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on L 2 -Gain Disturbance Rejection
Control Science and Engineering Volume 26, Article ID 927565, 7 pages http://dx.doi.org/.55/26/927565 Research Article A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on L 2 -Gain
More informationTuning and Modeling of Redundant Thrusters for Underwater Robots
Tuning and Modeling of Redundant Thrusters for Underwater Robots Aaron M. Hanai, Kaikala H. Rosa, Song K. Choi Autonomous Systems Laboratory University of Hawaii Mechanical Engineering Honolulu, HI U.S.A.
More informationDesign Artificial Nonlinear Controller Based on Computed Torque like Controller with Tunable Gain
World Applied Sciences Journal 14 (9): 1306-1312, 2011 ISSN 1818-4952 IDOSI Publications, 2011 Design Artificial Nonlinear Controller Based on Computed Torque like Controller with Tunable Gain Samira Soltani
More informationResearch Article Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System
Modelling and Simulation in Engineering Volume 213, Article ID 83946, 13 pages http://dx.doi.org/1.1155/213/83946 Research Article Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator
More informationA Blade Element Approach to Modeling Aerodynamic Flight of an Insect-scale Robot
A Blade Element Approach to Modeling Aerodynamic Flight of an Insect-scale Robot Taylor S. Clawson, Sawyer B. Fuller Robert J. Wood, Silvia Ferrari American Control Conference Seattle, WA May 25, 2016
More informationDESIGN OF A HYBRID POWER/TORQUE THRUSTER CONTROLLER WITH LOSS ESTIMATION. Øyvind N. Smogeli, Asgeir J. Sørensen and Thor I. Fossen
DESIGN OF A HYBRID POWER/TORQUE THRUSTER CONTROLLER WITH LOSS ESTIMATION Øyvind N. Smogeli, Asgeir J. Sørensen and Thor I. Fossen Department of Marine Technology Norwegian University of Science and Technology
More informationSimulation of Kinematic and Dynamic Models of an Underwater Remotely Operated Vehicle
Simulation of Kinematic and Dynamic Models of an Underwater Remotely Operated Vehicle Viviana Martínez, Daniel Sierra and Rodolfo Villamizar Escuela de Ingenierías Eléctrica, Electrónica y de Telecomunicaciones
More informationDesign On-Line Tunable Gain Artificial Nonlinear Controller
Journal of Computer Engineering 1 (2009) 3-11 Design On-Line Tunable Gain Artificial Nonlinear Controller Farzin Piltan, Nasri Sulaiman, M. H. Marhaban and R. Ramli Department of Electrical and Electronic
More informationIntelligent Systems and Control Prof. Laxmidhar Behera Indian Institute of Technology, Kanpur
Intelligent Systems and Control Prof. Laxmidhar Behera Indian Institute of Technology, Kanpur Module - 2 Lecture - 4 Introduction to Fuzzy Logic Control In this lecture today, we will be discussing fuzzy
More informationStable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum
Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum Sébastien Andary Ahmed Chemori Sébastien Krut LIRMM, Univ. Montpellier - CNRS, 6, rue Ada
More informationMEROS Project. Technical Advances in Modeling and Control. Dr. Lotfi CHIKH February (33)
MEROS Project Technical Advances in Modeling and Control Dr. Lotfi CHIKH February 2013 lotfi.chikh@tecnalia.com + (33) 467 130 125 1 Contents 1 Introduction 3 2 Dynamic model of the ROV: the mathematical
More informationControl of an Autonomous Underwater Vehicle subject to robustness constraints
Control of an Autonomous Underwater Vehicle subject to robustness constraints Juan Luis Rosendo Dominique Monnet Benoit Clement Fabricio Garelli Jordan Ninin GCA, LEICI, University of La Plata (UNLP),
More informationAnalysis and Design of Hybrid AI/Control Systems
Analysis and Design of Hybrid AI/Control Systems Glen Henshaw, PhD (formerly) Space Systems Laboratory University of Maryland,College Park 13 May 2011 Dynamically Complex Vehicles Increased deployment
More informationControl for. Maarten Steinbuch Dept. Mechanical Engineering Control Systems Technology Group TU/e
Control for Maarten Steinbuch Dept. Mechanical Engineering Control Systems Technology Group TU/e Motion Systems m F Introduction Timedomain tuning Frequency domain & stability Filters Feedforward Servo-oriented
More informationControl of UUVs Based upon Mathematical Models Obtained from Self-Oscillations Experiments
Control of UUVs Based upon Mathematical Models Obtained from Self-Oscillations Eperiments Nikola Miskovic Zoran Vukic Edin Omerdic University of Zagreb, Faculty of Electrical Engineering and Computing,
More informationECSE 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
More informationA Ship Heading and Speed Control Concept Inherently Satisfying Actuator Constraints
A Ship Heading and Speed Control Concept Inherently Satisfying Actuator Constraints Mikkel Eske Nørgaard Sørensen, Morten Breivik and Bjørn-Olav H. Eriksen Abstract Satisfying actuator constraints is often
More informationHandling Roll Constraints for Path Following of Marine Surface Vessels using Coordinated Rudder and Propulsion Control
2010 American Control Conference Marriott Waterfront, Baltimore, MD, USA June 30-July 02, 2010 FrB15.5 Handling Roll Constraints for Path Following of Marine Surface Vessels using Coordinated Rudder and
More informationPRECISION CONTROL OF LINEAR MOTOR DRIVEN HIGH-SPEED/ACCELERATION ELECTRO-MECHANICAL SYSTEMS. Bin Yao
PRECISION CONTROL OF LINEAR MOTOR DRIVEN HIGH-SPEED/ACCELERATION ELECTRO-MECHANICAL SYSTEMS Bin Yao Intelligent and Precision Control Laboratory School of Mechanical Engineering Purdue University West
More informationMECH 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
More informationRobust Control of Cooperative Underactuated Manipulators
Robust Control of Cooperative Underactuated Manipulators Marcel Bergerman * Yangsheng Xu +,** Yun-Hui Liu ** * Automation Institute Informatics Technology Center Campinas SP Brazil + The Robotics Institute
More informationExam - TTK 4190 Guidance & Control Eksamen - TTK 4190 Fartøysstyring
Page 1 of 6 Norges teknisk- naturvitenskapelige universitet Institutt for teknisk kybernetikk Faglig kontakt / contact person: Navn: Morten Pedersen, Universitetslektor Tlf.: 41602135 Exam - TTK 4190 Guidance
More informationDesign of a Heading Autopilot for Mariner Class Ship with Wave Filtering Based on Passive Observer
Design of a Heading Autopilot for Mariner Class Ship with Wave Filtering Based on Passive Observer 1 Mridul Pande, K K Mangrulkar 1, Aerospace Engg Dept DIAT (DU), Pune Email: 1 mridul_pande000@yahoo.com
More informationTrajectory Tracking of a Near-Surface Torpedo using Numerical Methods
ISSN (Print) : 2347-671 An ISO 3297: 27 Certified Organization Vol.4, Special Issue 12, September 215 Trajectory Tracking of a Near-Surface Torpedo using Numerical Methods Anties K. Martin, Anubhav C.A.,
More informationAdvanced Adaptive Control for Unintended System Behavior
Advanced Adaptive Control for Unintended System Behavior Dr. Chengyu Cao Mechanical Engineering University of Connecticut ccao@engr.uconn.edu jtang@engr.uconn.edu Outline Part I: Challenges: Unintended
More informationSimulation of Spatial Motion of Self-propelled Mine Counter Charge
Proceedings o the 5th WSEAS Int. Con. on System Science and Simulation in Engineering, Tenerie, Canary Islands, Spain, December 16-18, 26 1 Simulation o Spatial Motion o Sel-propelled Mine Counter Charge
More informationDr 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
More informationFUZZY LOGIC CONTROL Vs. CONVENTIONAL PID CONTROL OF AN INVERTED PENDULUM ROBOT
http:// FUZZY LOGIC CONTROL Vs. CONVENTIONAL PID CONTROL OF AN INVERTED PENDULUM ROBOT 1 Ms.Mukesh Beniwal, 2 Mr. Davender Kumar 1 M.Tech Student, 2 Asst.Prof, Department of Electronics and Communication
More informationResearch Article Proportional-Derivative Observer-Based Backstepping Control for an Underwater Manipulator
Mathematical Problems in Engineering Volume 211, Article ID 39792, 18 pages doi:1.1155/211/39792 Research Article Proportional-Derivative Observer-Based Backstepping Control for an Underwater Manipulator
More informationProblem 1: Ship Path-Following Control System (35%)
Problem 1: Ship Path-Following Control System (35%) Consider the kinematic equations: Figure 1: NTNU s research vessel, R/V Gunnerus, and Nomoto model: T ṙ + r = Kδ (1) with T = 22.0 s and K = 0.1 s 1.
More informationThe PVTOL Aircraft. 2.1 Introduction
2 The PVTOL Aircraft 2.1 Introduction We introduce in this chapter the well-known Planar Vertical Take-Off and Landing (PVTOL) aircraft problem. The PVTOL represents a challenging nonlinear systems control
More informationReview: stability; Routh Hurwitz criterion Today s topic: basic properties and benefits of feedback control
Plan of the Lecture Review: stability; Routh Hurwitz criterion Today s topic: basic properties and benefits of feedback control Goal: understand the difference between open-loop and closed-loop (feedback)
More informationPlan of the Lecture. Review: stability; Routh Hurwitz criterion Today s topic: basic properties and benefits of feedback control
Plan of the Lecture Review: stability; Routh Hurwitz criterion Today s topic: basic properties and benefits of feedback control Plan of the Lecture Review: stability; Routh Hurwitz criterion Today s topic:
More informationAutonomous Underwater Vehicles: Equations of Motion
Autonomous Underwater Vehicles: Equations of Motion Monique Chyba - November 18, 2015 Departments of Mathematics, University of Hawai i at Mānoa Elective in Robotics 2015/2016 - Control of Unmanned Vehicles
More informationLecture 12. Upcoming labs: Final Exam on 12/21/2015 (Monday)10:30-12:30
289 Upcoming labs: Lecture 12 Lab 20: Internal model control (finish up) Lab 22: Force or Torque control experiments [Integrative] (2-3 sessions) Final Exam on 12/21/2015 (Monday)10:30-12:30 Today: Recap
More informationLecture «Robot Dynamics»: Dynamics 2
Lecture «Robot Dynamics»: Dynamics 2 151-0851-00 V lecture: CAB G11 Tuesday 10:15 12:00, every week exercise: HG E1.2 Wednesday 8:15 10:00, according to schedule (about every 2nd week) office hour: LEE
More informationTrajectory-tracking control of a planar 3-RRR parallel manipulator
Trajectory-tracking control of a planar 3-RRR parallel manipulator Chaman Nasa and Sandipan Bandyopadhyay Department of Engineering Design Indian Institute of Technology Madras Chennai, India Abstract
More informationGAIN SCHEDULING CONTROL WITH MULTI-LOOP PID FOR 2- DOF ARM ROBOT TRAJECTORY CONTROL
GAIN SCHEDULING CONTROL WITH MULTI-LOOP PID FOR 2- DOF ARM ROBOT TRAJECTORY CONTROL 1 KHALED M. HELAL, 2 MOSTAFA R.A. ATIA, 3 MOHAMED I. ABU EL-SEBAH 1, 2 Mechanical Engineering Department ARAB ACADEMY
More informationAutomated Tuning of the Nonlinear Complementary Filter for an Attitude Heading Reference Observer
Automated Tuning of the Nonlinear Complementary Filter for an Attitude Heading Reference Observer Oscar De Silva, George K.I. Mann and Raymond G. Gosine Faculty of Engineering and Applied Sciences, Memorial
More informationTHRUST OPTIMIZATION OF AN UNDERWATER VEHICLE S PROPULSION SYSTEM
THRUST OPTIMIZATION OF AN UNDERWATER VEHICLE S PROPULSION SYSTEM Senior lecturer Vasile DOBREF Lecturer Octavian TARABUTA Mircea cel Batran Naval Academy, Constanta, Romania Keywords: underwater vehicle,
More informationDepartment of Aerospace Engineering and Mechanics University of Minnesota Written Preliminary Examination: Control Systems Friday, April 9, 2010
Department of Aerospace Engineering and Mechanics University of Minnesota Written Preliminary Examination: Control Systems Friday, April 9, 2010 Problem 1: Control of Short Period Dynamics Consider the
More informationSatellite Attitude Control System Design Using Reaction Wheels Bhanu Gouda Brian Fast Dan Simon
Satellite Attitude Control System Design Using Reaction Wheels Bhanu Gouda Brian Fast Dan Simon Outline 1. Overview of Attitude Determination and Control system. Problem formulation 3. Control schemes
More informationUnderactuated Dynamic Positioning of a Ship Experimental Results
856 IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 8, NO. 5, SEPTEMBER 2000 Underactuated Dynamic Positioning of a Ship Experimental Results Kristin Y. Pettersen and Thor I. Fossen Abstract The
More informationQuaternion-Based Tracking Control Law Design For Tracking Mode
A. M. Elbeltagy Egyptian Armed forces Conference on small satellites. 2016 Logan, Utah, USA Paper objectives Introduction Presentation Agenda Spacecraft combined nonlinear model Proposed RW nonlinear attitude
More informationModeling and Control of 2-DOF Underwater Planar Manipulator
Modeling and Control of 2-DOF Underwater Planar Manipulator Surina Mat Suboh, Irfan Abd Rahman, Mohd Rizal Arshad, Muhammad Nasiruddin Mahyuddin USM Robotics Research Group (URRG), School of Electrical
More informationSliding Mode Control Strategies for Spacecraft Rendezvous Maneuvers
Osaka University March 15, 2018 Sliding Mode Control Strategies for Spacecraft Rendezvous Maneuvers Elisabetta Punta CNR-IEIIT, Italy Problem Statement First Case Spacecraft Model Position Dynamics Attitude
More informationNonlinear Observer Design for Dynamic Positioning
Author s Name, Company Title of the Paper DYNAMIC POSITIONING CONFERENCE November 15-16, 2005 Control Systems I J.G. Snijders, J.W. van der Woude Delft University of Technology (The Netherlands) J. Westhuis
More informationVN-100 Velocity Compensation
VN-100 Velocity Compensation Velocity / Airspeed Aiding for AHRS Applications Application Note Abstract This application note describes how the VN-100 can be used in non-stationary applications which require
More informationHeriot-Watt University
Heriot-Watt University Heriot-Watt University Research Gateway A robust dynamic region-based control scheme for an autonomous underwater vehicle Ismail, Zool H.; Mokhar, Mohd B. M.; Putranti, Vina W. E.;
More informationControl 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
More informationTrajectory tracking & Path-following control
Cooperative Control of Multiple Robotic Vehicles: Theory and Practice Trajectory tracking & Path-following control EECI Graduate School on Control Supélec, Feb. 21-25, 2011 A word about T Tracking and
More informationCase Study: The Pelican Prototype Robot
5 Case Study: The Pelican Prototype Robot The purpose of this chapter is twofold: first, to present in detail the model of the experimental robot arm of the Robotics lab. from the CICESE Research Center,
More informationAutomatic 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
More informationGain Scheduling Control with Multi-loop PID for 2-DOF Arm Robot Trajectory Control
Gain Scheduling Control with Multi-loop PID for 2-DOF Arm Robot Trajectory Control Khaled M. Helal, 2 Mostafa R.A. Atia, 3 Mohamed I. Abu El-Sebah, 2 Mechanical Engineering Department ARAB ACADEMY FOR
More informationEstimation-based Disturbance Rejection in Control for Limit Cycle Generation on Inertia wheel Inverted Pendulum Testbed
Estimation-based Disturbance Rejection in Control for Limit Cycle Generation on Inertia wheel Inverted Pendulum Testbed Sébastien Andary, Ahmed Chemori, Sébastien Krut To cite this version: Sébastien Andary,
More informationWe are IntechOpen, the world s leading publisher of Open Access books Built by scientists, for scientists. International authors and editors
We are IntechOpen, the world s leading publisher of Open Access books Built by scientists, for scientists 3,800 116,000 120M Open access books available International authors and editors Downloads Our
More informationEnhancing a Model-Free Adaptive Controller through Evolutionary Computation
Enhancing a Model-Free Adaptive Controller through Evolutionary Computation Anthony Clark, Philip McKinley, and Xiaobo Tan Michigan State University, East Lansing, USA Aquatic Robots Practical uses autonomous
More informationH-infinity Model Reference Controller Design for Magnetic Levitation System
H.I. Ali Control and Systems Engineering Department, University of Technology Baghdad, Iraq 6043@uotechnology.edu.iq H-infinity Model Reference Controller Design for Magnetic Levitation System Abstract-
More informationCONTROLO th Portuguese Conference on Automatic Control EXPERIMENTS ON VISION BASED CONTROL OF AN INDOORS RF BLIMP
COTROLO 2008 8 th Portuguese Conference on Automatic Control EXPERIMETS O VISIO BASED COTROL OF A IDOORS RF BLIMP Marco eves, João Marques, Alexandre Bernardino, José Santos-Victor Institute for Systems
More informationFuzzy Adaptive Control for Trajectory Tracking of Autonomous Underwater Vehicle
1392 - - - Fuzzy Adaptive Control for Trajectory Tracking of Autonomous Underwater Vehicle Saeed Nakhkoob (1) - Abbas Chatraei (2) - Khoshnam Shojaei (2) (1) MSc Department of Electrical Engineering, Islamic
More informationGeneral procedure for formulation of robot dynamics STEP 1 STEP 3. Module 9 : Robot Dynamics & controls
Module 9 : Robot Dynamics & controls Lecture 32 : General procedure for dynamics equation forming and introduction to control Objectives In this course you will learn the following Lagrangian Formulation
More informationComputer Problem 1: SIE Guidance, Navigation, and Control
Computer Problem 1: SIE 39 - Guidance, Navigation, and Control Roger Skjetne March 12, 23 1 Problem 1 (DSRV) We have the model: m Zẇ Z q ẇ Mẇ I y M q q + ẋ U cos θ + w sin θ ż U sin θ + w cos θ θ q Zw
More informationExperimental Study on Adaptive Control of Underwater Robots
Proceedings of the 999 EEE International Conference on Robotics & Automation Detroit, Michigan May 999 Experimental Study on Adaptive Control of Underwater Robots J. Yuh, Jing Nie, and C.S.G. Lee* Autonomous
More informationLecture «Robot Dynamics»: Dynamics and Control
Lecture «Robot Dynamics»: Dynamics and Control 151-0851-00 V lecture: CAB G11 Tuesday 10:15 12:00, every week exercise: HG E1.2 Wednesday 8:15 10:00, according to schedule (about every 2nd week) Marco
More informationCHAPTER 10: STABILITY &TUNING
When I complete this chapter, I want to be able to do the following. Determine the stability of a process without control Determine the stability of a closed-loop feedback control system Use these approaches
More informationRobot Manipulator Control. Hesheng Wang Dept. of Automation
Robot Manipulator Control Hesheng Wang Dept. of Automation Introduction Industrial robots work based on the teaching/playback scheme Operators teach the task procedure to a robot he robot plays back eecute
More informationAnalysis of Four Quadrant Operation of Thruster Motor in an AUV using an Optimized H Infinity Speed Controller
Analysis of Four Quadrant Operation of Thruster Motor in an AUV using an Optimized H Infinity Speed Controller K. Vinida 1 and Mariamma Chacko 2 1 Research Scholar, Department of ship technology, Cochin
More informationMEAM 510 Fall 2011 Bruce D. Kothmann
Balancing g Robot Control MEAM 510 Fall 2011 Bruce D. Kothmann Agenda Bruce s Controls Resume Simple Mechanics (Statics & Dynamics) of the Balancing Robot Basic Ideas About Feedback & Stability Effects
More informationVirtual Passive Controller for Robot Systems Using Joint Torque Sensors
NASA Technical Memorandum 110316 Virtual Passive Controller for Robot Systems Using Joint Torque Sensors Hal A. Aldridge and Jer-Nan Juang Langley Research Center, Hampton, Virginia January 1997 National
More informationA numerical DP MODULE to help design and operation for projects including DP components
DYNAMIC POSITIONING CONFERENCE November 15-16, 25 Control Systems I A numerical DP MODULE to help design and operation for projects including DP components C. Le Cunff PRINCIPIA (La Ciotat, France) Return
More informationNeural Network-Based Adaptive Control of Robotic Manipulator: Application to a Three Links Cylindrical Robot
Vol.3 No., 27 مجلد 3 العدد 27 Neural Network-Based Adaptive Control of Robotic Manipulator: Application to a Three Links Cylindrical Robot Abdul-Basset A. AL-Hussein Electrical Engineering Department Basrah
More informationVideo 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
More informationCHAPTER INTRODUCTION
CHAPTER 3 DYNAMIC RESPONSE OF 2 DOF QUARTER CAR PASSIVE SUSPENSION SYSTEM (QC-PSS) AND 2 DOF QUARTER CAR ELECTROHYDRAULIC ACTIVE SUSPENSION SYSTEM (QC-EH-ASS) 3.1 INTRODUCTION In this chapter, the dynamic
More informationNonlinear Landing Control for Quadrotor UAVs
Nonlinear Landing Control for Quadrotor UAVs Holger Voos University of Applied Sciences Ravensburg-Weingarten, Mobile Robotics Lab, D-88241 Weingarten Abstract. Quadrotor UAVs are one of the most preferred
More informationBipedal Locomotion on Small Feet. Bipedal Locomotion on Small Feet. Pop Quiz for Tony 6/26/2015. Jessy Grizzle. Jessy Grizzle.
Bipedal Locomotion on Small Feet Jessy Grizzle Elmer G. Gilbert Distinguished University Professor Levin Professor of Engineering ECE and ME Departments Pop Quiz for Tony Can you give the first name of
More informationSimulation of Plane Motion of Semiautonomous Underwater Vehicle
Proceedings o the European Computing Conerence Simulation o Plane Motion o Semiautonomous Underwater Vehicle JERZY GARUS, JÓZEF MAŁECKI Faculty o Mechanical and Electrical Engineering Naval University
More informationTrajectory Planning, Setpoint Generation and Feedforward for Motion Systems
2 Trajectory Planning, Setpoint Generation and Feedforward for Motion Systems Paul Lambrechts Digital Motion Control (4K4), 23 Faculty of Mechanical Engineering, Control Systems Technology Group /42 2
More informationQuadrotor 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
More informationDesign and Comparison of Different Controllers to Stabilize a Rotary Inverted Pendulum
ISSN (Online): 347-3878, Impact Factor (5): 3.79 Design and Comparison of Different Controllers to Stabilize a Rotary Inverted Pendulum Kambhampati Tejaswi, Alluri Amarendra, Ganta Ramesh 3 M.Tech, Department
More informationControl of industrial robots. Centralized control
Control of industrial robots Centralized control Prof. Paolo Rocco (paolo.rocco@polimi.it) Politecnico di Milano ipartimento di Elettronica, Informazione e Bioingegneria Introduction Centralized control
More informationInternational Conference on Electromechanical Engineering ICEE Plenary II. Ahmed CHEMORI
International Conference on Electromechanical Engineering ICEE 2012 Plenary II Ahmed CHEMORI Laboratory of Informatics, Robotics and Microelectronics of Montpellier LIRMM, CNRS/University of Montpellier
More informationNonlinear Formation Control of Marine Craft
Nonlinear Formation Control of Marine Craft Roger Skjetne, Sonja Moi, and Thor I. Fossen Abstract This paper investigates formation control of a fleet of ships. The control objective for each ship is to
More informationI. D. Landau, A. Karimi: A Course on Adaptive Control Adaptive Control. Part 9: Adaptive Control with Multiple Models and Switching
I. D. Landau, A. Karimi: A Course on Adaptive Control - 5 1 Adaptive Control Part 9: Adaptive Control with Multiple Models and Switching I. D. Landau, A. Karimi: A Course on Adaptive Control - 5 2 Outline
More informationPredictive Control of Gyroscopic-Force Actuators for Mechanical Vibration Damping
ARC Centre of Excellence for Complex Dynamic Systems and Control, pp 1 15 Predictive Control of Gyroscopic-Force Actuators for Mechanical Vibration Damping Tristan Perez 1, 2 Joris B Termaat 3 1 School
More informationApplication of Neural Networks for Control of Inverted Pendulum
Application of Neural Networks for Control of Inverted Pendulum VALERI MLADENOV Department of Theoretical Electrical Engineering Technical University of Sofia Sofia, Kliment Ohridski blvd. 8; BULARIA valerim@tu-sofia.bg
More informationA Physically-Based Fault Detection and Isolation Method and Its Uses in Robot Manipulators
des FA 4.13 Steuerung und Regelung von Robotern A Physically-Based Fault Detection and Isolation Method and Its Uses in Robot Manipulators Alessandro De Luca Dipartimento di Informatica e Sistemistica
More informationMEAM 510 Fall 2012 Bruce D. Kothmann
Balancing g Robot Control MEAM 510 Fall 2012 Bruce D. Kothmann Agenda Bruce s Controls Resume Simple Mechanics (Statics & Dynamics) of the Balancing Robot Basic Ideas About Feedback & Stability Effects
More informationControl of the MARES Autonomous Underwater Vehicle
Control of the MARES Autonomous Underwater Vehicle Bruno Ferreira, Miguel Pinto, Aníbal Matos, Nuno Cruz FEUP DEEC Rua Dr. Roberto Frias, s/n 4200-465 Porto PORTUGAL ee04018@fe.up.pt, ee04134@fe.up.pt,
More informationRobotics & Automation. Lecture 25. Dynamics of Constrained Systems, Dynamic Control. John T. Wen. April 26, 2007
Robotics & Automation Lecture 25 Dynamics of Constrained Systems, Dynamic Control John T. Wen April 26, 2007 Last Time Order N Forward Dynamics (3-sweep algorithm) Factorization perspective: causal-anticausal
More informationAdaptive Robust Control (ARC) for an Altitude Control of a Quadrotor Type UAV Carrying an Unknown Payloads
2 th International Conference on Control, Automation and Systems Oct. 26-29, 2 in KINTEX, Gyeonggi-do, Korea Adaptive Robust Control (ARC) for an Altitude Control of a Quadrotor Type UAV Carrying an Unknown
More informationDISTURBANCE ATTENUATION IN A MAGNETIC LEVITATION SYSTEM WITH ACCELERATION FEEDBACK
DISTURBANCE ATTENUATION IN A MAGNETIC LEVITATION SYSTEM WITH ACCELERATION FEEDBACK Feng Tian Department of Mechanical Engineering Marquette University Milwaukee, WI 53233 USA Email: feng.tian@mu.edu Kevin
More informationCONTROL OF ROBOT CAMERA SYSTEM WITH ACTUATOR S DYNAMICS TO TRACK MOVING OBJECT
Journal of Computer Science and Cybernetics, V.31, N.3 (2015), 255 265 DOI: 10.15625/1813-9663/31/3/6127 CONTROL OF ROBOT CAMERA SYSTEM WITH ACTUATOR S DYNAMICS TO TRACK MOVING OBJECT NGUYEN TIEN KIEM
More information