Pub Date : 2019-06-01DOI: 10.1299/JSMEDMC.2016.433
M. Yokoyama, Akihiko Kakuta
This paper presents a control strategy for a wheeled mobile robot with variable-pitch blades which make it highly mobile over irregular terrain. In our previous work, a mathematical model with respect to pitching motion of the robot necessary to climb a stair was developed, and a servo controller for the pitching motion was proposed under the assumption that the desired lift or down force was available as a control input. In this paper, taking the actuator dynamics into account, the controller is redesigned by applying the backstepping method to guarantee the asymptotic stability constructing a Lyapunov function, and its effectiveness is shown by numerical simulation.
{"title":"Pitching Motion Control of a Wheeled Mobile Robot with Variable-Pitch Blades via Backstepping Method","authors":"M. Yokoyama, Akihiko Kakuta","doi":"10.1299/JSMEDMC.2016.433","DOIUrl":"https://doi.org/10.1299/JSMEDMC.2016.433","url":null,"abstract":"This paper presents a control strategy for a wheeled mobile robot with variable-pitch blades which make it highly mobile over irregular terrain. In our previous work, a mathematical model with respect to pitching motion of the robot necessary to climb a stair was developed, and a servo controller for the pitching motion was proposed under the assumption that the desired lift or down force was available as a control input. In this paper, taking the actuator dynamics into account, the controller is redesigned by applying the backstepping method to guarantee the asymptotic stability constructing a Lyapunov function, and its effectiveness is shown by numerical simulation.","PeriodicalId":192904,"journal":{"name":"2019 12th Asian Control Conference (ASCC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122343876","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1299/jsmedmc.2018.101
M. Iwai
Combustion oscillations occur themselves as pressure and heat release oscillations in lean premixed combustors, and may cause some unexpected damage. This paper proposes a design method of a reset controller to eliminate a combustion oscillation in a lean premixed combustor model. We consider a plant model consisting of a linear system with a nonlinear feedback element and a reset controller using a first-order lag element, which is called a first-order reset element (FORE). We show parameter conditions of the reset controller for which limit cycles are eliminated, using a describing function of the nonlinear element. We apply the proposed design method of the reset controller and a flame describing function to eliminate the combustion oscillation in the lean premixed combustor model and show its effectiveness appropriately.
{"title":"Reset Control of Combustion Oscillation Model*","authors":"M. Iwai","doi":"10.1299/jsmedmc.2018.101","DOIUrl":"https://doi.org/10.1299/jsmedmc.2018.101","url":null,"abstract":"Combustion oscillations occur themselves as pressure and heat release oscillations in lean premixed combustors, and may cause some unexpected damage. This paper proposes a design method of a reset controller to eliminate a combustion oscillation in a lean premixed combustor model. We consider a plant model consisting of a linear system with a nonlinear feedback element and a reset controller using a first-order lag element, which is called a first-order reset element (FORE). We show parameter conditions of the reset controller for which limit cycles are eliminated, using a describing function of the nonlinear element. We apply the proposed design method of the reset controller and a flame describing function to eliminate the combustion oscillation in the lean premixed combustor model and show its effectiveness appropriately.","PeriodicalId":192904,"journal":{"name":"2019 12th Asian Control Conference (ASCC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122632116","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1299/JSMEDMC.2018.726
Ryosuke Koyanagi, Masaki Takahashi
A vibration-isolating bed for ambulances using an inerter is proposed. The structure of the bed is assumed to consist of a bottom frame fixed to the ambulance floor and an upper frame on which the stretcher is placed. Both are connected only by the suspension, including the inerter, in the vertical and horizontal directions. Because the inerter can reduce the gain of the high frequency band and delay the response, the time when maximum acceleration is applied to bed can be shortened by passively in a limited space in ambulance. We consider the bed as a plant and the suspension as a controller, and then formulate the state equation. To reduce the acceleration within the movable range of the bed, the controller that minimizes the H∞ norm of the transfer function from the external force acting on the bed to acceleration is calculated by bilinear matrix inequality. The transfer function determines the structure and coefficient of the suspension. The usefulness of the bed is verified by numerical simulations.
{"title":"Design of Vibration-Isolating Bed for Ambulances Using Inerter","authors":"Ryosuke Koyanagi, Masaki Takahashi","doi":"10.1299/JSMEDMC.2018.726","DOIUrl":"https://doi.org/10.1299/JSMEDMC.2018.726","url":null,"abstract":"A vibration-isolating bed for ambulances using an inerter is proposed. The structure of the bed is assumed to consist of a bottom frame fixed to the ambulance floor and an upper frame on which the stretcher is placed. Both are connected only by the suspension, including the inerter, in the vertical and horizontal directions. Because the inerter can reduce the gain of the high frequency band and delay the response, the time when maximum acceleration is applied to bed can be shortened by passively in a limited space in ambulance. We consider the bed as a plant and the suspension as a controller, and then formulate the state equation. To reduce the acceleration within the movable range of the bed, the controller that minimizes the H∞ norm of the transfer function from the external force acting on the bed to acceleration is calculated by bilinear matrix inequality. The transfer function determines the structure and coefficient of the suspension. The usefulness of the bed is verified by numerical simulations.","PeriodicalId":192904,"journal":{"name":"2019 12th Asian Control Conference (ASCC)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125004261","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The control of non-linear systems has been an interesting research topic for many years. It is not feasible to control such systems using linear control because of uncertainties. Non-linear control like Sliding Mode Control (SMC) is robust against these uncertainties. Integration of SMC with Sliding Perturbation Observer (SPO) is a more robust controller with a perturbation compensation technique. Chattering is a drawback of SMC due to a high switching gain, which can be reduced by altering the structure of SMC, by multiplying the gain with the velocity error. Integration of this proportional derivative gain PDSMC with SPO introduces a more robust controller with a faster convergence to the desired state.
{"title":"Efficient Control of Non-linear System Using Modified Sliding Mode Control","authors":"S. Abbasi, K. D. Kallu, Jie Wang, Min-Cheol Lee","doi":"10.3390/APP9071284","DOIUrl":"https://doi.org/10.3390/APP9071284","url":null,"abstract":"The control of non-linear systems has been an interesting research topic for many years. It is not feasible to control such systems using linear control because of uncertainties. Non-linear control like Sliding Mode Control (SMC) is robust against these uncertainties. Integration of SMC with Sliding Perturbation Observer (SPO) is a more robust controller with a perturbation compensation technique. Chattering is a drawback of SMC due to a high switching gain, which can be reduced by altering the structure of SMC, by multiplying the gain with the velocity error. Integration of this proportional derivative gain PDSMC with SPO introduces a more robust controller with a faster convergence to the desired state.","PeriodicalId":192904,"journal":{"name":"2019 12th Asian Control Conference (ASCC)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125958755","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：