Current Issue : January-March Volume : 2022 Issue Number : 1 Articles : 5 Articles
This paper presents the results of a model-based predictive control (MPC) design for a quadrotor aerial vehicle with a suspended load. Unlike previous works, the controller takes into account the hanging payload dynamics, the dynamics in three-dimensional space, and the vehicle rotation, achieving a good balance between fast stabilization times and small swing angles. The mathematical model is based on the Euler–Lagrange formulation and considers the dynamics of the vehicle, the cable, and the load. Then, the mathematical model is represented as an input-affine system to obtain the linear model for the control design. A constrained MPC strategy was designed and compared with an unconstrained MPC and an algorithm from the literature for the case of study. The constraints to be considered include the limits on the swing angles and the quadrotor position. The constrained control algorithm was constructed to stabilize the aerial vehicle. It aims to track a trajectory reference while attenuating the load swing, considering a maximum ...............
The aim of this paper is to test the usefulness of a new approach based on partial feedback linearization to control the Pendubot. The control problem stated in the article is to stabilize the Pendubot in the upright position. In particular, properties of the closed-loop system and the zero dynamics are investigated and illustrated by results of simulations. Next, the performance of a hybrid-like controller in the case of input saturation is evaluated by conduction extensive simulation trails. The experimental results suggest that the considered control methodology can be successfully applied for a real system....
The availability of multiple inputs (plants) can improve output performance by conveniently allocating the control bandwidth among them. Beyond that, the intervention of only the useful plants at each frequency implies the minimum control action at each input. Secondly, in single input control, the addition of feedforward loops from measurable external inputs has been demonstrated to reduce the amount of feedback and, subsequently, palliate its sideband effects of noise amplification. Thus, one part of the action calculated by feedback is now provided by feedforward. This paper takes advantage of both facts for the problem of robust rejection of measurable disturbances by employing a set of control inputs; a previous work did the same for the case of robust reference tracking. Then, a control architecture is provided that includes feedforward elements from the measurable disturbance to each control input and feedback control elements that link the output error to each control input. A methodology is developed for the robust design of the named control elements that distribute the control bandwidth among the cheapest inputs and simultaneously assures the prescribed output performance to correct the disturbed output for a set of possible plant cases (model uncertainty). The minimum necessary feedback gains are used to fight plant uncertainties at the control bandwidth, while feedforward gains achieve the nominal output response. Quantitative feedback theory (QFT) principles are employed. An example illustrates the method and its benefits versus a control architecture with only feedback control elements, which have much more gain beyond the control bandwidth than when feedforward is employed....
This paper proposes a novel control strategy for six degrees-of-freedom active vibration isolation tables. In these systems, the most challenging issue is to suppress the external vibrations and isolate the internal interactions while still preserving the system’s robustness when facing uncertainties. A noninteracting controller is designed to tackle these problems. The resulting control system is completely decoupled in the sense that each system output is independently controlled to follow the corresponding reference signal. In this paper, the model of an active vibration isolation table is firstly derived. Conditions for system stability and decoupled performance are then discussed. The control law is formulated using the linear matrix inequality approach, which results in optimal control gains for the control objectives. With the proposed controller, complex system characteristics can be handled more efficiently such that an effective system is designed to obtain good control performance. Finally, simulations and comparison studies were conducted, and the results validate the efficiency of the proposed scheme....
Table lamps have long been one of the necessities of people’s life and work, as they appear and are used very frequently in household lighting equipment. Table lamps provide the right amount of light for people to work and study in their daily lives. Compared with the general traditional desk lamp, intelligent desk lamps provide a more comfortable lighting environment for people to read, work and study. The paper firstly analyzes the system scheme of the intelligent desk lamp and completes the hardware selection, using STM32F103C8T6 as the main control, HR-SR501 module as the pyroelectric module of the intelligent desk lamp. HC-SR04 ultrasonic distance measures sensor for distance measurement. Bluetooth module HC-05 is the wireless control module of the lamp. Then the interface circuit design of each functional module is completed by drawing schematic diagram through Altium Designer. The program design of each function by drawing program flowchart is completed. The program is written through keil5. Finally, the automatic adjustment of lighting intensity, posture reminder, human infrared sensing and wireless control of the intelligent lamp are realized through a combination of hardware and software. Desk lamp has the advantages of simple operation, energy saving, sitting posture reminder, automatic dimming and wireless control, etc. Compared with the general traditional desk lamp, it solves the problems of traditional desk lamp control not simple enough, high energy consumption and being easy to cause visual fatigue or myopia; therefore, it has high application value and market value....
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