Abstract This paper generalizes our previous results on semistability and stochastic semistability for switched nonlinear systems published in the Proceedings of 2021 Modeling, Estimation and Control Conference. The paper also provides the results on semistability in mean square for switched nonlinear discrete-time systems. The theoretical result involves generalized sufficient conditions for (stochastic) semistability and semistability in mean square of discrete-time nonlinear dynamical systems under time-varying or random (arbitrary) switching by means of Fixed Point Theory. An advantage of these results is to overcome fundamental challenges arising from using existing methods such as Lyapunov and LaSalle methods. As an application of the theoretical results presented, a constrained distributed consensus problem over random multi-agent networks is considered for which a generalized asynchronous and totally asynchronous iterative algorithm is derived. The algorithm is able to converge even if the weighted matrix of the graph is periodic and irreducible under synchronous protocol. Finally, a numerical example is given in which there is a distribution dependency among communication graphs to demonstrate the results.
{"title":"Generalized Semistability and Stochastic Semistability for Switched Nonlinear Systems Using Fixed Point Theory","authors":"Seyyed Shaho Alaviani, Atul Kelkar","doi":"10.1115/1.4063797","DOIUrl":"https://doi.org/10.1115/1.4063797","url":null,"abstract":"Abstract This paper generalizes our previous results on semistability and stochastic semistability for switched nonlinear systems published in the Proceedings of 2021 Modeling, Estimation and Control Conference. The paper also provides the results on semistability in mean square for switched nonlinear discrete-time systems. The theoretical result involves generalized sufficient conditions for (stochastic) semistability and semistability in mean square of discrete-time nonlinear dynamical systems under time-varying or random (arbitrary) switching by means of Fixed Point Theory. An advantage of these results is to overcome fundamental challenges arising from using existing methods such as Lyapunov and LaSalle methods. As an application of the theoretical results presented, a constrained distributed consensus problem over random multi-agent networks is considered for which a generalized asynchronous and totally asynchronous iterative algorithm is derived. The algorithm is able to converge even if the weighted matrix of the graph is periodic and irreducible under synchronous protocol. Finally, a numerical example is given in which there is a distribution dependency among communication graphs to demonstrate the results.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135855918","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}
Abedrahman Khalil, Mohammad Al Saaideh, M. Al Janaideh, M. Rakotondrabe
In this article, we investigate how to identify faulty sensors in piezoelectric actuators used for precise positioning. Four sensors are distributed along the actuator's cantilever structure to measure the deflection (displacement) at various points. We suggest identifying the sensor and detecting the fault in one of the sensors, which is thought to be faulty or producing a degraded signal. To address this, we suggest using transmissibility operators, which are mathematical estimators that estimate sensor measurements based on another set of sensor measurements within the same system. This estimation is highly robust against any external excitations/disturbances, as well as any unknown nonlinearities or unmodeled dynamics. The estimation robustness allows failure detection to be carried out even in significant actuator hysteresis nonlinearity and outside disturbance. Simulation results with various sensor fault conditions verified the suggested strategy.
{"title":"Output Estimation and Failure Detection in Cantilever Bimorph Actuator using Transmissibility Operators","authors":"Abedrahman Khalil, Mohammad Al Saaideh, M. Al Janaideh, M. Rakotondrabe","doi":"10.1115/1.4062572","DOIUrl":"https://doi.org/10.1115/1.4062572","url":null,"abstract":"\u0000 In this article, we investigate how to identify faulty sensors in piezoelectric actuators used for precise positioning. Four sensors are distributed along the actuator's cantilever structure to measure the deflection (displacement) at various points. We suggest identifying the sensor and detecting the fault in one of the sensors, which is thought to be faulty or producing a degraded signal. To address this, we suggest using transmissibility operators, which are mathematical estimators that estimate sensor measurements based on another set of sensor measurements within the same system. This estimation is highly robust against any external excitations/disturbances, as well as any unknown nonlinearities or unmodeled dynamics. The estimation robustness allows failure detection to be carried out even in significant actuator hysteresis nonlinearity and outside disturbance. Simulation results with various sensor fault conditions verified the suggested strategy.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"172 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114390202","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 tire-road interaction generates vehicle driving forces, which affect vehicle performance such as maximum acceleration and stability. Sequential extended Kalman filter (S-EKF) integrated with a slope method has been used for tire-road friction coefficient estimation with its own limitations, along with several “cause-based” and “effect-based” methods. This research proposes a new stochastic-based evaluation criterion using existing vehicle sensor signals with the help of data-driven Kriging model. The proposed estimation method is validated by both CarSimTM simulation and experimental studies, respectively, under different road conditions. The results shows that the proposed novel criterion has a strong correlation with the road friction coefficient and provides an improved tire-road friction coefficient estimation. A signal fusion estimation scheme based on both S-EKF and proposed evaluations is developed to improve estimation robustness.
{"title":"Tire-Road Friction Coefficient Estimation based on Fusion of Model- and Data-Based Methods","authors":"","doi":"10.1115/1.4062283","DOIUrl":"https://doi.org/10.1115/1.4062283","url":null,"abstract":"\u0000 The tire-road interaction generates vehicle driving forces, which affect vehicle performance such as maximum acceleration and stability. Sequential extended Kalman filter (S-EKF) integrated with a slope method has been used for tire-road friction coefficient estimation with its own limitations, along with several “cause-based” and “effect-based” methods. This research proposes a new stochastic-based evaluation criterion using existing vehicle sensor signals with the help of data-driven Kriging model. The proposed estimation method is validated by both CarSimTM simulation and experimental studies, respectively, under different road conditions. The results shows that the proposed novel criterion has a strong correlation with the road friction coefficient and provides an improved tire-road friction coefficient estimation. A signal fusion estimation scheme based on both S-EKF and proposed evaluations is developed to improve estimation robustness.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116563611","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}
Aswath Govindraju, Andrew Cornelius, Zongxuan Sun, Kenneth Kim, Chol-Bum M. Kweon
Abstract Surrogate-model or data-driven model-based control frameworks are becoming increasingly popular in recent years due to their ease of model development and enhanced computational power, making them suitable for real-time use. However, when it comes to modeling aspects related to time, difficulties arise as many of the models deal with quasi-static systems. In this paper, we propose a method to model time-dependent actuator constraints in a surrogate-model-based control framework for controlling the combustion phasing in a multi-fuel UAS engine. Along with this, a conducive method for designing an energy-efficient ignition assistant control is discussed. The developed methods are then tested on a diesel engine, and the results show a more robust and energy-efficient combustion phasing control as the fuel property varies in real-time.
{"title":"Rate Limited and Energy efficient Feedforward control for multi-fuel UAS engine","authors":"Aswath Govindraju, Andrew Cornelius, Zongxuan Sun, Kenneth Kim, Chol-Bum M. Kweon","doi":"10.1115/1.4063476","DOIUrl":"https://doi.org/10.1115/1.4063476","url":null,"abstract":"Abstract Surrogate-model or data-driven model-based control frameworks are becoming increasingly popular in recent years due to their ease of model development and enhanced computational power, making them suitable for real-time use. However, when it comes to modeling aspects related to time, difficulties arise as many of the models deal with quasi-static systems. In this paper, we propose a method to model time-dependent actuator constraints in a surrogate-model-based control framework for controlling the combustion phasing in a multi-fuel UAS engine. Along with this, a conducive method for designing an energy-efficient ignition assistant control is discussed. The developed methods are then tested on a diesel engine, and the results show a more robust and energy-efficient combustion phasing control as the fuel property varies in real-time.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"479 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135771377","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}
Paul Schulman, Samuel-Hunter Berndt, Christiahn Roman, Xiaobo Tan
Abstract Computational fluid dynamics (CFD) analysis was conducted on a proposed blade root-actuated individual blade control (IBC) system for future Martian rotorcraft. IBC offers many potential benefits to rotary-winged exploration of Mars, including precision control of rotor blade forces. This study seeks to provide an estimate of rotor blade force and system power as a basis for concept feasibility analysis and experimental prototyping. ansys fluent was used to compute blade pitching moment, lift, and drag under various feathering waveforms, amplitudes, biases, and frequencies. It is determined that the rapid feathering characteristic of IBC has a non-negligible impact on blade forces. It is also found that actuators with power ratings on the order of 101 W are likely sufficient for blade actuation on Martian rotorcraft.
{"title":"CFD Modeling Analysis of a Martian Rotorcraft with Individual Blade Control","authors":"Paul Schulman, Samuel-Hunter Berndt, Christiahn Roman, Xiaobo Tan","doi":"10.1115/1.4063482","DOIUrl":"https://doi.org/10.1115/1.4063482","url":null,"abstract":"Abstract Computational fluid dynamics (CFD) analysis was conducted on a proposed blade root-actuated individual blade control (IBC) system for future Martian rotorcraft. IBC offers many potential benefits to rotary-winged exploration of Mars, including precision control of rotor blade forces. This study seeks to provide an estimate of rotor blade force and system power as a basis for concept feasibility analysis and experimental prototyping. ansys fluent was used to compute blade pitching moment, lift, and drag under various feathering waveforms, amplitudes, biases, and frequencies. It is determined that the rapid feathering characteristic of IBC has a non-negligible impact on blade forces. It is also found that actuators with power ratings on the order of 101 W are likely sufficient for blade actuation on Martian rotorcraft.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135771375","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}
Behzad Kadkhodaeielyaderani, Joshua L. Leibowitz, Yejin Moon, Stephen Stachnik, Morcos Awad, Grace Sarkar, Anna E. Shaw, Shelby Stewart, Melissa Culligan, Joseph S. Friedberg, Jin-Oh Hahn, Hosam Fathy
Abstract This paper presents an experimentally parameterized model of the dynamics of oxygen transport in a laboratory animal that simultaneously experiences: (i) a reduction in inspired oxygen plus (ii) an increase in intra-abdominal pressure. The goal is to model the potential impact of elevated intra-abdominal pressure on oxygen transport dynamics. The model contains three compartments, namely, the animal’s lungs, lower body vasculature, and upper body vasculature. The model assumes that intra-abdominal pressure affects the split of cardiac output among the two vasculature compartments and that aerobic metabolism in each compartment diminishes with severe hypoxia. Fitting this model to a laboratory experiment on an adult male Yorkshire swine using a regularized nonlinear least-squares approach furnishes both physiologically plausible parameter values plus a reasonable quality of fit.
{"title":"Modeling the Impact of Abdominal Pressure on Hypoxia in Laboratory Swine","authors":"Behzad Kadkhodaeielyaderani, Joshua L. Leibowitz, Yejin Moon, Stephen Stachnik, Morcos Awad, Grace Sarkar, Anna E. Shaw, Shelby Stewart, Melissa Culligan, Joseph S. Friedberg, Jin-Oh Hahn, Hosam Fathy","doi":"10.1115/1.4063478","DOIUrl":"https://doi.org/10.1115/1.4063478","url":null,"abstract":"Abstract This paper presents an experimentally parameterized model of the dynamics of oxygen transport in a laboratory animal that simultaneously experiences: (i) a reduction in inspired oxygen plus (ii) an increase in intra-abdominal pressure. The goal is to model the potential impact of elevated intra-abdominal pressure on oxygen transport dynamics. The model contains three compartments, namely, the animal’s lungs, lower body vasculature, and upper body vasculature. The model assumes that intra-abdominal pressure affects the split of cardiac output among the two vasculature compartments and that aerobic metabolism in each compartment diminishes with severe hypoxia. Fitting this model to a laboratory experiment on an adult male Yorkshire swine using a regularized nonlinear least-squares approach furnishes both physiologically plausible parameter values plus a reasonable quality of fit.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135771376","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}
Abstract While powder bed fusion (PBF) additive manufacturing offers many advantages and exciting applications, its broader adoption is hindered by issues with reliability and variations during the manufacturing process. To address this, researchers have identified the importance of using both finite element modeling and control-oriented modeling to predict and improve the quality of printed parts. In this paper, we propose a novel control-oriented multi-track melt pool width model that utilizes the superposition principle to account for the complex thermal interactions that occur during PBF. We validate the effectiveness of the model by applying a finite element model of the thermal fields in PBF.
{"title":"Multi-track Melt Pool Width Modelling in Powder Bed Fusion Additive Manufacturing","authors":"Dan Wang, Xu Chen","doi":"10.1115/1.4063475","DOIUrl":"https://doi.org/10.1115/1.4063475","url":null,"abstract":"Abstract While powder bed fusion (PBF) additive manufacturing offers many advantages and exciting applications, its broader adoption is hindered by issues with reliability and variations during the manufacturing process. To address this, researchers have identified the importance of using both finite element modeling and control-oriented modeling to predict and improve the quality of printed parts. In this paper, we propose a novel control-oriented multi-track melt pool width model that utilizes the superposition principle to account for the complex thermal interactions that occur during PBF. We validate the effectiveness of the model by applying a finite element model of the thermal fields in PBF.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135771378","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}
Abstract This letter introduces a new method for fault diagnosis of electrohydraulic actuators (EHA). Common faults include abnormal supply pressure, viscous friction, bulk modulus, and oil leakage. First, a validated model of an EHA is used to simulate faults at varying percent perturbations to generate data. The harmonics of the corresponding servo-valve control signal are calculated using sliding discrete Fourier transform (DFT) and stored. A fully connected neural network is then trained to predict fault cases using harmonic information. Simulation results show high accuracy for diagnosis of individual cases and ability to diagnose mixed cases. The actuator motion reference signal is also shown to impact overall diagnosability. Finally, the method was tested on experimental data consisting of nominal and low-pressure cases. Random disturbances were added to simulation training data to allow more robustness and resulted in 80% accuracy on the 10 experimental datapoints. It is demonstrated that a validated model can be used to diagnose faults in actual experimental setup. Future work will be done to diagnose non-pressure experimental cases.
{"title":"A Fault Diagnosis Tool for Electro-Hydraulic Actuators","authors":"Bharath Sivaram, Zongxuan Sun","doi":"10.1115/1.4063396","DOIUrl":"https://doi.org/10.1115/1.4063396","url":null,"abstract":"Abstract This letter introduces a new method for fault diagnosis of electrohydraulic actuators (EHA). Common faults include abnormal supply pressure, viscous friction, bulk modulus, and oil leakage. First, a validated model of an EHA is used to simulate faults at varying percent perturbations to generate data. The harmonics of the corresponding servo-valve control signal are calculated using sliding discrete Fourier transform (DFT) and stored. A fully connected neural network is then trained to predict fault cases using harmonic information. Simulation results show high accuracy for diagnosis of individual cases and ability to diagnose mixed cases. The actuator motion reference signal is also shown to impact overall diagnosability. Finally, the method was tested on experimental data consisting of nominal and low-pressure cases. Random disturbances were added to simulation training data to allow more robustness and resulted in 80% accuracy on the 10 experimental datapoints. It is demonstrated that a validated model can be used to diagnose faults in actual experimental setup. Future work will be done to diagnose non-pressure experimental cases.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"7 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135771875","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}
Emiliano Quinones Yumbla, D. Li, Tolemy M. Nibi, Daniel M. Aukes, Wenlong Zhang
Sensing for wearable robots is an ongoing challenge, especially given the recent trend of soft and com- pliant robots. Recently, a wearable origami exoshell has been designed to sense the user's torso motion and provide mobility assistance. The materials of the exoshell contribute to a lightweight design with compliant joints, which are ideal characteristics for a wearable device. Common sensors are not ideal for the exoshell as they compromise these design characteristics. Rotary encoders are often rigid metal devices that add considerable weight and compromise the flexibility of the joints. IMU sensors are affected by environments with variable electromagnetic fields, and therefore not ideal for wearable applications. Hall effect sensors and gyroscopes are utilized as alternative compatible sensors, which introduce their own set of challenges: noisy measurements and drift due to sensor bias. To mitigate this, we designed the Kinematically Constrained Kalman Filter for sensor fusion of gyroscopes and Hall effect sensors, with the goal of estimating the human's torso and robot joint angles. We augmented the states to consider bias related to the torso angle in order to compensate for drift. The forward kinematics of the robot are incorporated into the Kalman Filter as state constraints to address the unobservability of the torso angle and its related bias. The proposed algorithm improved the estimation performance of the torso angle and its bias, compared to the individual sensors and the standard Kalman Filter, as demonstrated through bench tests and experiments with a human user.
{"title":"A Kinematically Constrained Kalman Filter for Sensor Fusion in a Wearable Origami Robot","authors":"Emiliano Quinones Yumbla, D. Li, Tolemy M. Nibi, Daniel M. Aukes, Wenlong Zhang","doi":"10.1115/1.4056986","DOIUrl":"https://doi.org/10.1115/1.4056986","url":null,"abstract":"\u0000 Sensing for wearable robots is an ongoing challenge, especially given the recent trend of soft and com- pliant robots. Recently, a wearable origami exoshell has been designed to sense the user's torso motion and provide mobility assistance. The materials of the exoshell contribute to a lightweight design with compliant joints, which are ideal characteristics for a wearable device. Common sensors are not ideal for the exoshell as they compromise these design characteristics. Rotary encoders are often rigid metal devices that add considerable weight and compromise the flexibility of the joints. IMU sensors are affected by environments with variable electromagnetic fields, and therefore not ideal for wearable applications. Hall effect sensors and gyroscopes are utilized as alternative compatible sensors, which introduce their own set of challenges: noisy measurements and drift due to sensor bias. To mitigate this, we designed the Kinematically Constrained Kalman Filter for sensor fusion of gyroscopes and Hall effect sensors, with the goal of estimating the human's torso and robot joint angles. We augmented the states to consider bias related to the torso angle in order to compensate for drift. The forward kinematics of the robot are incorporated into the Kalman Filter as state constraints to address the unobservability of the torso angle and its related bias. The proposed algorithm improved the estimation performance of the torso angle and its bias, compared to the individual sensors and the standard Kalman Filter, as demonstrated through bench tests and experiments with a human user.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116678926","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}
This study aims to analyze three unmanned aerial vehicles’ static and dynamic motor thrust models and to compare them against flight test telemetry motor angular velocity data as ground truth. This comparison determines which model is the most accurate based on the root mean square of the difference between the motor models and the telemetry data values. The mixture of experts architecture assigns weights to each thrust model through a gating network such that higher weights map to the more accurate models. Flight tests include two maneuvers: triangle and shoelace loop. The triangle maneuver uses the cornering option to stop and turn at each waypoint. In contrast, the shoelace loop maneuver uses the curved option to fly smooth curves at waypoints instead of stopping and turning at each waypoint. Simulation results of the motor thrust models use the telemetry data to compute the motor angular velocities with tuned model parameters tailored to the type of maneuver. Regarding motor angular velocity estimation, the Gibiansky and Burgers models tend to overestimate, while the Staples model tends to underestimate. The combination of the simulation results of the models with the mixture of experts allows us to achieve higher accuracy than any of the individual models.
{"title":"Mixture of Experts for Unmanned Aerial Vehicle Motor Thrust Models","authors":"E. Kawamura, D. Azimov","doi":"10.1115/1.4056935","DOIUrl":"https://doi.org/10.1115/1.4056935","url":null,"abstract":"\u0000 This study aims to analyze three unmanned aerial vehicles’ static and dynamic motor thrust models and to compare them against flight test telemetry motor angular velocity data as ground truth. This comparison determines which model is the most accurate based on the root mean square of the difference between the motor models and the telemetry data values. The mixture of experts architecture assigns weights to each thrust model through a gating network such that higher weights map to the more accurate models. Flight tests include two maneuvers: triangle and shoelace loop. The triangle maneuver uses the cornering option to stop and turn at each waypoint. In contrast, the shoelace loop maneuver uses the curved option to fly smooth curves at waypoints instead of stopping and turning at each waypoint. Simulation results of the motor thrust models use the telemetry data to compute the motor angular velocities with tuned model parameters tailored to the type of maneuver. Regarding motor angular velocity estimation, the Gibiansky and Burgers models tend to overestimate, while the Staples model tends to underestimate. The combination of the simulation results of the models with the mixture of experts allows us to achieve higher accuracy than any of the individual models.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125014931","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}
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