اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدDesign of a Networked Controller for a Two-Wheeled Inverted Pendulum Robot
115
0
0.0
(
0
)
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN communication. The robot has to keep a vertical upright position. Incorporating wireless communication in the control loop introduces multiple uncertainties and affects system performance and stability. The proposed networked control scheme employs model predictive techniques and deliberately extends delays in order to make them constant and deterministic. The performance of the resulting networked control system is evaluated experimentally with a predefined benchmarking experiment and is compared to local control involving no delays.
قيم البحث
اقرأ أيضاً
Networked automation systems (NAS) are characterized by confluence of control, computation, communication and Information (C3I) technologies. Design decisions of one domain are affected by the constraints posed by others. Reliable NAS design should a
ddress the requirements of the system, and simultaneously meet the constraints posed by other domains and this is called co-design in literature. Co-design requires clear definition of interfaces among these domains. Control design in NAS is affected by the timing imperfections posed by other domains. In this investigation, we first study the different sources of timing imperfections in NAS, and classify them based on their occurrence. The concept of jitter is used to define the timing imperfections induced by various system components. Using this analysis, we classify the jitter based on their behavior and domain of occurrence. Our analysis shows that the jitter induced in NAS can be classified based on domain as- hardware, software and communication. Next, we use this analysis to model the jitter from the components of NAS. Modeling timing imperfections helps in capturing the interfaces among the domains, and we use the concept of design contracts to capture the interfaces. Design contracts describe the semantic mapping among the domains and are specified using the jitter margins. Implementing design contracts requires knowledge of the jitter margin and, the results from control theory are used to this extent.
Quadrotor is often used to accomplish various missions related to surveillance, territory mapping, search and rescue, and other purposes. Quadrotor is a nonlinear system with multiple input multiple output and has stability issue due to external dist
urbance. These characteristics lead to difficulty in cruise control of quadrotor automatically. Decoupling method is used to eliminate the interaction of other control on rotational motion, then the roll, pitch, and yaw angle can be controlled independently. Nonlinear PD controller is obtained from invers model of control signal on a quad rotor and it is used to control the translational motion in x and y axis with nonlinear dynamics because of the influence the rotational angle. Simulation results show that the proposed method can eliminate the control interaction of roll, pitch and yaw angle, hence it works like single input single output system and translational motion on x andy axis can achieve the expected trajectory precisely.
With quadrotor use seeing extensive growth in recent years, the autonomous control of these Unmanned Aerial Vehicles (UAVs) is an increasing relevant and intersting field. In this paper a linear state-space approach at designing a stable hover contro
ller in the presence of disturbances is presented along with simulation of control system performance. Additionally the design of a tracking system, for linear inertial position and yaw, is presented with simulation results. The gain matrix developed for this control system is independent of the specific quadrotor parameters, meaning that this same gain matrix can be used on a wide variety of quadrotors without modification. The hover and tracking controllers designed in this paper proved to perform well in simulation under perturbation disturbances and normally distributed disturbances on the UAVs linear speeds and angular speeds.
A significant challenge in the development of control systems for diesel airpath applications is to tune the controller parameters to achieve satisfactory output performance, especially whilst adhering to input and safety constraints in the presence
of unknown system disturbances. Model-based control techniques, such as model predictive control (MPC), have been successfully applied to multivariable and highly nonlinear systems, such as diesel engines, while considering operational constraints. However, efficient calibration of typical implementations of MPC is hindered by the high number of tuning parameters and their non-intuitive correlation with the output response. In this paper, the number of effective tuning parameters is reduced through suitable structural modifications to the controller formulation and an appropriate redesign of the MPC cost function to aid rapid calibration. Furthermore, a constraint tightening-like approach is augmented to the control architecture to provide robustness guarantees in the face of uncertainties. A switched linear time-varying MPC strategy with recursive feasibility guarantees during controller switching is proposed to handle transient operation of the engine. The robust controller is first implemented on a high fidelity simulation environment, with a comprehensive investigation of its calibration to achieve desired transient response under step changes in the fuelling rate. An experimental study then validates and highlights the performance of the proposed controller architecture for selected tunings of the calibration parameters for fuelling steps and over drive cycles.
This work mainly presents a preliminary design for a pendulum experiment with both the source mass and the test mass in a striped pattern to amplify the Lorentz-violation signal, since the signal is sensitive to edge effects.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
