Phanindra Tallapragada, Jake Buzhardt, Robert W. Seney
In this paper we present a novel unactuated mechanism that utilizes gravity to jump. The passive jumper is a hoop whose center of mass does not coincide with its geometric center. When the hoop rolls down an inclined plane, the center of mass of the hoop moves along a cycloid. As the hoop gains speed moving down the inclined plane, the normal reaction between the hoop and the plane becomes insufficient to ensure contact between the hoop and the plane. This allows the hoop to ‘jump’. Experiments and analysis show that such a jump can be significant, with the jump height from the plane being as high as one body length (diameter) of the hoop. The mechanics of the passive jumping hoop powered by gravity investigated in this paper can inspire the design of actuated jumping robots that can both roll and jump.
{"title":"A Passive Jumping Mechanism","authors":"Phanindra Tallapragada, Jake Buzhardt, Robert W. Seney","doi":"10.1115/dscc2019-9194","DOIUrl":"https://doi.org/10.1115/dscc2019-9194","url":null,"abstract":"\u0000 In this paper we present a novel unactuated mechanism that utilizes gravity to jump. The passive jumper is a hoop whose center of mass does not coincide with its geometric center. When the hoop rolls down an inclined plane, the center of mass of the hoop moves along a cycloid. As the hoop gains speed moving down the inclined plane, the normal reaction between the hoop and the plane becomes insufficient to ensure contact between the hoop and the plane. This allows the hoop to ‘jump’. Experiments and analysis show that such a jump can be significant, with the jump height from the plane being as high as one body length (diameter) of the hoop. The mechanics of the passive jumping hoop powered by gravity investigated in this paper can inspire the design of actuated jumping robots that can both roll and jump.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90411173","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}
Proton exchange membrane (PEM) electrolyzers with the ability to produce gases at a pressure suitable for direct metal hydride storage are desirable because they do not require the use of compressors and other auxiliary components. Direct storage into metal hydride cylinders is made feasible when the pressure and flow rate of hydrogen is controlled. The nonlinear dynamics of the PEM electrolyzer change with temperature and pressure, both of which change with the hydrogen production rate, and are thus difficult to estimate. Therefore, a model-free, relay-feedback, auto-tuning approach is used to tune a proportional integral (PI) controller. This allows for the determination of the voltage supply to the electrolyzer by tracking the current set-point and correlating it to the hydrogen production rate. A gain scheduling approach is used to record the tuned controller’s parameters at different set-points, minimizing the frequency of tuning the device. A self-assessment test is used to determine situations where the auto-tuner should activate to update the PI parameters, thus, allowing for the system to operate without supervision. The auto-tuning PI control is successfully tested with a PEM electrolyzer setup. Experimental results showed that an auto-tuner can tune the controller parameters and produce favorable transient behaviors, allowing for a degree of adaptability for variations in system set-points.
{"title":"Auto-Tuning Control of PEM Water Electrolyzer","authors":"A. Keow, Zheng Chen","doi":"10.1115/dscc2019-9156","DOIUrl":"https://doi.org/10.1115/dscc2019-9156","url":null,"abstract":"\u0000 Proton exchange membrane (PEM) electrolyzers with the ability to produce gases at a pressure suitable for direct metal hydride storage are desirable because they do not require the use of compressors and other auxiliary components. Direct storage into metal hydride cylinders is made feasible when the pressure and flow rate of hydrogen is controlled. The nonlinear dynamics of the PEM electrolyzer change with temperature and pressure, both of which change with the hydrogen production rate, and are thus difficult to estimate. Therefore, a model-free, relay-feedback, auto-tuning approach is used to tune a proportional integral (PI) controller. This allows for the determination of the voltage supply to the electrolyzer by tracking the current set-point and correlating it to the hydrogen production rate. A gain scheduling approach is used to record the tuned controller’s parameters at different set-points, minimizing the frequency of tuning the device. A self-assessment test is used to determine situations where the auto-tuner should activate to update the PI parameters, thus, allowing for the system to operate without supervision. The auto-tuning PI control is successfully tested with a PEM electrolyzer setup. Experimental results showed that an auto-tuner can tune the controller parameters and produce favorable transient behaviors, allowing for a degree of adaptability for variations in system set-points.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88645793","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 work addresses the observability properties of linear time-invariant systems that are monitored by a sensor network that provides access only to relative measurements and partial absolute observations of the state-space variables. Graph-theoretical tools are deployed to represent the information sharing links between the sensors of the network. The results are extended to multi-agent coordinated systems that are independently controlled or execute distributed control protocols. Explicit analytical conditions are derived that determine the system’s observability with respect to the spectral characteristics of the information-sharing network. The system’s observability is further investigated for multi-agent systems governed by the agreement dynamics where only a singleton measurement is available. The analysis is disseminated to the design of distributed observers where the agents have only available their relative displacement measurement from their neighbors. The distributed observer’s estimation error is rendered globally asymptotically stable by the addition of an anchor node that has access to the absolute motion of a single agent (node). The theoretical analysis is validated through numerical simulations.
{"title":"Observability of Multi-Agent Network Sensing Systems","authors":"I. Raptis, Clark N. Taylor","doi":"10.1115/dscc2019-9138","DOIUrl":"https://doi.org/10.1115/dscc2019-9138","url":null,"abstract":"\u0000 This work addresses the observability properties of linear time-invariant systems that are monitored by a sensor network that provides access only to relative measurements and partial absolute observations of the state-space variables. Graph-theoretical tools are deployed to represent the information sharing links between the sensors of the network. The results are extended to multi-agent coordinated systems that are independently controlled or execute distributed control protocols. Explicit analytical conditions are derived that determine the system’s observability with respect to the spectral characteristics of the information-sharing network. The system’s observability is further investigated for multi-agent systems governed by the agreement dynamics where only a singleton measurement is available. The analysis is disseminated to the design of distributed observers where the agents have only available their relative displacement measurement from their neighbors. The distributed observer’s estimation error is rendered globally asymptotically stable by the addition of an anchor node that has access to the absolute motion of a single agent (node). The theoretical analysis is validated through numerical simulations.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81212479","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}
Utilizing multiple small-sized automated guided vehicles (AGVs) in cooperatively transport large and heavy objects in manufacturing factories or logistics is an emerging research direction. Flexibility and efficiency can be enhanced by using multi-AGV comparing to a large AGV with higher capacity especially in clutter environments. In this paper, a multi-AGV system by using Mecanum wheels to provide omnidirectional movement is proposed for cooperative transportation. Accordingly, the proposed Mecanum-wheeled automated guided vehicles (MWAGVs) composed of Mecanum wheels and a rotary platform provides not only non-constrained movement but also planar displacement for allowance of distance errors. In the proposed MWAGVs, the formation control with fixed geometry during operation is significant especially with unknown object information, dynamic uncertainties, and external disturbances. Therefore, the passivity-based adaptive synchronizing control algorithm is developed to ensure stability and tracking performance with uncertain dynamic parameters. Simulations and Experiments show the efficacy of designed Mecanum-wheeled AGV.
{"title":"Towards Cooperative Transportation of Multiple Mecanum-Wheeled Automated Guided Vehicles","authors":"J. Peng, Yen‐Chen Liu","doi":"10.1115/dscc2019-9141","DOIUrl":"https://doi.org/10.1115/dscc2019-9141","url":null,"abstract":"\u0000 Utilizing multiple small-sized automated guided vehicles (AGVs) in cooperatively transport large and heavy objects in manufacturing factories or logistics is an emerging research direction. Flexibility and efficiency can be enhanced by using multi-AGV comparing to a large AGV with higher capacity especially in clutter environments. In this paper, a multi-AGV system by using Mecanum wheels to provide omnidirectional movement is proposed for cooperative transportation. Accordingly, the proposed Mecanum-wheeled automated guided vehicles (MWAGVs) composed of Mecanum wheels and a rotary platform provides not only non-constrained movement but also planar displacement for allowance of distance errors. In the proposed MWAGVs, the formation control with fixed geometry during operation is significant especially with unknown object information, dynamic uncertainties, and external disturbances. Therefore, the passivity-based adaptive synchronizing control algorithm is developed to ensure stability and tracking performance with uncertain dynamic parameters. Simulations and Experiments show the efficacy of designed Mecanum-wheeled AGV.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81472692","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 article introduces a scenario optimization framework for reliability-based design given measurements of the uncertain parameters. In contrast to traditional methods, scenario optimization makes direct use of the available data thereby eliminating the need for assuming a distribution class and estimating its hyper-parameters. Scenario theory provides formal bounds on the probabilistic performance of a design decision and certifies the system ability to comply with various requirements for future/unseen observations. This probabilistic certificate of correctness is non-asymptotic and distribution-free. Furthermore, chance-constrained optimization techniques are used to detect and eliminate the effects of outliers in the resulting optimal design. The proposed framework is exemplified on a benchmark robust control challenge problem having conflicting design objectives.
{"title":"Solution of the Benchmark Control Problem by Scenario Optimization","authors":"Roberto Rocchetta, L. Crespo, S. Kenny","doi":"10.1115/dscc2019-8949","DOIUrl":"https://doi.org/10.1115/dscc2019-8949","url":null,"abstract":"\u0000 This article introduces a scenario optimization framework for reliability-based design given measurements of the uncertain parameters. In contrast to traditional methods, scenario optimization makes direct use of the available data thereby eliminating the need for assuming a distribution class and estimating its hyper-parameters. Scenario theory provides formal bounds on the probabilistic performance of a design decision and certifies the system ability to comply with various requirements for future/unseen observations. This probabilistic certificate of correctness is non-asymptotic and distribution-free. Furthermore, chance-constrained optimization techniques are used to detect and eliminate the effects of outliers in the resulting optimal design. The proposed framework is exemplified on a benchmark robust control challenge problem having conflicting design objectives.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84100186","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}
Lean burn gasoline engines have attracted more and more attentions over the past two decades. One of the main challenges in commercializing lean burn gasoline engines in the United States is lean NOx control to meet the stringent NOx emission regulation. Several types of lean aftertreatment systems including passive selective catalytic reduction (SCR) systems and lean NOx traps (LNTs), have been intensively investigated to meet the NOx emission requirements without triggering significant penalties on fuel efficiency. One of the most promising technologies to achieve this goal is non-uniform cylinder-to-cylinder combustion (NUCCC) control strategies. However, successful implementation of NUCCC strategies are challenging tasks since it may cause cylinder-to-cylinder torque imbalance and thus deterioration of drivability. The purpose of this study is to propose and evaluate a systematic method for generating the references of fuel quantity and air quantity for different cylinders to simultaneously achieve cylinder-to-cylinder torque balance and non-uniform cylinder-to-cylinder air/fuel ratio (AFR) for multi-cylinder engines in various scenarios. To validate the effectiveness of the proposed method, simulation studies were carried out using a multi-zone engine model. The simulation results show that, the proposed references, if successfully tracked, can lead to torque balance across the cylinders as well as non-uniform cylinder-to-cylinder AFR.
{"title":"A Torque Balance Method for Multi-Cylinder Gasoline Engines With Non-Uniform Cylinder-to-Cylinder Combustion Strategies","authors":"Qinghua Lin, Pingen Chen","doi":"10.1115/dscc2019-9231","DOIUrl":"https://doi.org/10.1115/dscc2019-9231","url":null,"abstract":"\u0000 Lean burn gasoline engines have attracted more and more attentions over the past two decades. One of the main challenges in commercializing lean burn gasoline engines in the United States is lean NOx control to meet the stringent NOx emission regulation. Several types of lean aftertreatment systems including passive selective catalytic reduction (SCR) systems and lean NOx traps (LNTs), have been intensively investigated to meet the NOx emission requirements without triggering significant penalties on fuel efficiency. One of the most promising technologies to achieve this goal is non-uniform cylinder-to-cylinder combustion (NUCCC) control strategies. However, successful implementation of NUCCC strategies are challenging tasks since it may cause cylinder-to-cylinder torque imbalance and thus deterioration of drivability. The purpose of this study is to propose and evaluate a systematic method for generating the references of fuel quantity and air quantity for different cylinders to simultaneously achieve cylinder-to-cylinder torque balance and non-uniform cylinder-to-cylinder air/fuel ratio (AFR) for multi-cylinder engines in various scenarios. To validate the effectiveness of the proposed method, simulation studies were carried out using a multi-zone engine model. The simulation results show that, the proposed references, if successfully tracked, can lead to torque balance across the cylinders as well as non-uniform cylinder-to-cylinder AFR.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87964663","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}
Demetris Coleman, Maria L. Castaño, Osama Ennasr, Xiaobo Tan
Autonomous underwater gliders have become valuable tools for a myriad of applications ranging from ocean exploration to fish tracking to environmental sampling. To be suitable for these types of applications, precise sensing and monitoring is desired, which makes accurate trajectory control important. However, highly nonlinear under-actuated dynamics present significant challenges in control of gliders. In this work a backstepping-based controller is proposed for an underwater glider to track a desired position and heading reference in the sagittal plane with only two control inputs, the buoyancy and center of gravity along the longitudinal direction. In particular,the under-actuation issue is addressed by exploiting the coupled dynamics and introducing a new modified error that combines the tracking errors of heading and position references. In addition, an auxiliary system is incorporated to account for input constraints. Finally, a sliding mode observer is designed to obtain the estimates of body-fixed velocities, to facilitate practical implementation of the designed controller. The effectiveness of the proposed control scheme is demonstrated via simulations and its advantages are shown via comparison with a PID controller.
{"title":"Backstepping-Based Trajectory Tracking for Underwater Gliders","authors":"Demetris Coleman, Maria L. Castaño, Osama Ennasr, Xiaobo Tan","doi":"10.1115/dscc2019-9028","DOIUrl":"https://doi.org/10.1115/dscc2019-9028","url":null,"abstract":"\u0000 Autonomous underwater gliders have become valuable tools for a myriad of applications ranging from ocean exploration to fish tracking to environmental sampling. To be suitable for these types of applications, precise sensing and monitoring is desired, which makes accurate trajectory control important. However, highly nonlinear under-actuated dynamics present significant challenges in control of gliders. In this work a backstepping-based controller is proposed for an underwater glider to track a desired position and heading reference in the sagittal plane with only two control inputs, the buoyancy and center of gravity along the longitudinal direction. In particular,the under-actuation issue is addressed by exploiting the coupled dynamics and introducing a new modified error that combines the tracking errors of heading and position references. In addition, an auxiliary system is incorporated to account for input constraints. Finally, a sliding mode observer is designed to obtain the estimates of body-fixed velocities, to facilitate practical implementation of the designed controller. The effectiveness of the proposed control scheme is demonstrated via simulations and its advantages are shown via comparison with a PID controller.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85838911","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}
Inspired by the agility and maneuverability of running kangaroos, a prototype robot was developed using a reduced order model to constrain the system. Both passive and active models were used to understand the relationship between system parameters and gait performance. A frequency response experiment was performed on the prototype to quantify the relationship between design parameters and system responses. Additionally, preliminary tail controllers were tested. Based on the results of the initial platform, a new robot was designed and built as a platform for the study of three dimensional hopping.
{"title":"Design of a Kangaroo Inspired Hopping Robot for Unrestricted Locomotion and Controller Development","authors":"Austin Curtis, James A. Mynderse, H. Vejdani","doi":"10.1115/dscc2019-9083","DOIUrl":"https://doi.org/10.1115/dscc2019-9083","url":null,"abstract":"\u0000 Inspired by the agility and maneuverability of running kangaroos, a prototype robot was developed using a reduced order model to constrain the system. Both passive and active models were used to understand the relationship between system parameters and gait performance. A frequency response experiment was performed on the prototype to quantify the relationship between design parameters and system responses. Additionally, preliminary tail controllers were tested. Based on the results of the initial platform, a new robot was designed and built as a platform for the study of three dimensional hopping.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78570577","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}
Jake A. Steiner, Joseph R. Bourne, Xiang He, D. Cropek, K. Leang
In this paper, a decentralized chemical-source localization method is presented. In a real-world scenario, many challenges arise, including sporadic chemical measurements due to the complex interactions between the unmanned aerial vehicles (UAVs), the ambient air, and obstacles. The localization method is split into two phases: a search phase, where the agents cover the area and look for an initial chemical reading; followed by a convergence phase, where UAV agents utilize a particle swarm optimization (PSO) algorithm to locate the source of the chemical leak. The decentralized source-localization method enables a swarm of UAVs to safely travel in a complex environment and avoid obstacles and other agents while searching for the leaking source. The method is validated in simulation using realistic dynamic chemical plumes and through outdoor flight tests using a swarm of UAVs. The results demonstrate the feasibility of the approach.
{"title":"Chemical-Source Localization Using a Swarm of Decentralized Unmanned Aerial Vehicles for Urban/Suburban Environments","authors":"Jake A. Steiner, Joseph R. Bourne, Xiang He, D. Cropek, K. Leang","doi":"10.1115/dscc2019-9099","DOIUrl":"https://doi.org/10.1115/dscc2019-9099","url":null,"abstract":"\u0000 In this paper, a decentralized chemical-source localization method is presented. In a real-world scenario, many challenges arise, including sporadic chemical measurements due to the complex interactions between the unmanned aerial vehicles (UAVs), the ambient air, and obstacles. The localization method is split into two phases: a search phase, where the agents cover the area and look for an initial chemical reading; followed by a convergence phase, where UAV agents utilize a particle swarm optimization (PSO) algorithm to locate the source of the chemical leak. The decentralized source-localization method enables a swarm of UAVs to safely travel in a complex environment and avoid obstacles and other agents while searching for the leaking source. The method is validated in simulation using realistic dynamic chemical plumes and through outdoor flight tests using a swarm of UAVs. The results demonstrate the feasibility of the approach.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76624357","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 aim of this work is to propose a data-driven ILC algorithm that features fast convergence for nonlinear dynamic systems. This idea utilizes adaptive filtering that implicitly identifies the time-varying system inverse along the trajectory being tracked. By feeding the error signal through the copied inverse filter, it results in a rapidly convergent inversion-based ILC. This approach is compared to a nonlinear extension of the data-driven ILC that uses system adjoint as the learning filter. The developed algorithm is validated through simulation on a fully actuated 2 DOF Furuta pendulum.
{"title":"Data-Driven ILC for Trajectory Tracking in Nonlinear Dynamic Systems","authors":"Yu-Hsiu Lee, T. Tsao","doi":"10.1115/dscc2019-8926","DOIUrl":"https://doi.org/10.1115/dscc2019-8926","url":null,"abstract":"\u0000 The aim of this work is to propose a data-driven ILC algorithm that features fast convergence for nonlinear dynamic systems. This idea utilizes adaptive filtering that implicitly identifies the time-varying system inverse along the trajectory being tracked. By feeding the error signal through the copied inverse filter, it results in a rapidly convergent inversion-based ILC. This approach is compared to a nonlinear extension of the data-driven ILC that uses system adjoint as the learning filter. The developed algorithm is validated through simulation on a fully actuated 2 DOF Furuta pendulum.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79131057","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：