Temat: underactuated - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Pre-filtered backstepping control for underactuated ship path following
Autorzy:: Liu, Zhiquan
Powiązania:: https://bibliotekanauki.pl/articles/259576.pdf
Data publikacji:: 2019
Wydawca:: Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:: underactuated ships
path following
backstepping
pre-filter
Opis:: Robust path following control for underactuated surface ships is an important issue in marine control practice. This paper aims to improve the robustness of the close-loop system with model uncertainties and time-varying disturbances. A practical adaptive backstepping control scheme with a pre-filter is proposed to force a surface vessel to track the predefined path generated by the virtual ship. Based on the Lyapunov stability theorem, this algorithm can guarantee all error signals in the overall system to be uniformly ultimately bounded, and it can be implemented without exact knowledge of the nonlinear damping structure and environmental disturbances. The proposed pre-filter can smooth the commanded heading order and obtain a better performance of the waypoint-based navigation control system. Two simulation cases are drawn to illustrate the validity of the proposed control strategy.
Źródło:: Polish Maritime Research; 2019, 2; 68-75
1233-2585
Pojawia się w:: Polish Maritime Research
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Motion planning of the underactuated manipulators with friction in constrained state space
Autorzy:: Ratajczak, A.
Janiak, M.
Powiązania:: https://bibliotekanauki.pl/articles/384792.pdf
Data publikacji:: 2011
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: Constrained Motion Planning
underactuated manipulators
endogenous configuration space
Opis:: This paper addresses the constrained motion planning problem for passive joint manipulators with friction. Constraints are imposed on a system state space vector. The dynamics of underactuated manipulators are described by a control-affine system with a drift term. In order to solve the constrained motion planning problem the imbalanced Jacobian algorithm derived from an endogenous configuration space approach is used. The state space constraints are included into the system representation of the manipulator dynamics. The extended system is subject to regularisation because of the Jacobian singularities, then the unconstrained motion planning problem is solved for the regularised system. The solution of the motion planning problem for this system is equivalent to the solution of the constrained motion planning problem for an original system. Performance of the imbalanced Jacobian algorithm has been demonstrated with series of simulation for the two kinds of manipulators with and without friction.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 3; 33-40
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: A case study of inverse dynamics control of manipulators with passive joints
Autorzy:: Blajer, W.
Kołodziejczyk, K.
Powiązania:: https://bibliotekanauki.pl/articles/279450.pdf
Data publikacji:: 2014
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: inverse dynamics
underactuated manipulators
passive joints
servo-constraints
Opis:: Manipulators with both active and passive joints are examples of underactuated systems, featured by less control inputs than degrees of freedom. Due to the underactuation, in the trajectory tracking (servo-constraint) problem, the feed-forward control obtained from an inverse model is influenced by internal dynamics of the system, leading to a more involved control design than in the fully actuated case. It is demonstrated that a convenient approach to the problem solution is to formulate the underactuated system dynamics in the input-output normal form, with the arising governing equations formulated either as ODEs (ordinary differential equations) or DAEs (differential-algebraic equations). The interrelationship between the inverse dynamics control and the associated internal dynamics is then studied and illustrated using a planar manipulator with two active and one passive joint. Some simulation results for the sample case study are reported.
Źródło:: Journal of Theoretical and Applied Mechanics; 2014, 52, 3; 793-801
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Tracking control of an underactuated rigid body with a coupling input force
Autorzy:: Korczak, S.
Powiązania:: https://bibliotekanauki.pl/articles/229217.pdf
Data publikacji:: 2014
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: underactuated system
tracking
coupling forces
computed torque control
Opis:: This paper presents a set of basic problems concerning the control of an underactuated dynamic system. Exemplary system of a planar rigid body with a coupling input force is described. Lie brackets method is used to show accessibility of the system. A tracking problem is solved with computed torque algorithm. The coupling force makes the convergence to zero of all state variables errors impossible. After numerical simulation, stability of the system is mentioned.
Źródło:: Archives of Control Sciences; 2014, 24, 3; 321-332
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: Fault detection based on Lyapunov exponents estimation for stabilized mechanical systems
Autorzy:: Puzyrov, Volodymyr
Acho, Leonardo
Pujol, Gisela
Rodellar, José
Powiązania:: https://bibliotekanauki.pl/articles/281447.pdf
Data publikacji:: 2019
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: fault detection
switched system
Lyapunov characteristic exponent
underactuated system
Opis:: We study a stabilizable mechanical system in the vicinity of an equilibrium position. This position, as a rule, is unstable, and the system is underactuated. It is assumed that faults affect the technical process and its control. We suggest a fault diagnosis technique based on estimation of Lyapunov characteristic exponents of measured variables. A model of a linear switching system is involved for the system with faults description, and a common quadratic Lyapunov function is used to evaluate the deviation of the maximum exponent with respect to the default system. A scheme of fault magnitude estimation is suggested related to the degree of this deviation. An example of a 2-degree of freedom system is presented to illustrate the procedure.
Źródło:: Journal of Theoretical and Applied Mechanics; 2019, 57, 2; 519-531
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Hierarchical sliding mode control for a class of SIMO under-actuated systems
Autorzy:: Qian, D.
Yi, J.
Zhao, D.
Powiązania:: https://bibliotekanauki.pl/articles/971008.pdf
Data publikacji:: 2008
Wydawca:: Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:: control approaches
control applications
sliding mode control
underactuated systems
Opis:: A hierarchical sliding mode control approach is proposed for a class of SIMO under-actuated systems. This class of under-actuated systems is made up of several subsystems. Based on this physical structure, the hierarchical structure of the sliding surfaces is designed as follows. At first, the sliding surface of every subsystem is defined. Then the sliding surface of one subsystem is defined as the first layer sliding surface. The first layer sliding surface is used to construct the second layer sliding surface with the sliding surface of another subsystem. This process continues till the sliding surfaces of the entire subsystems are included. According to the hierarchical structure, the total control law is deduced by the Lyapunov theorem. In theory, the asymptotic stability of the entire system of sliding surfaces is proven and the parameter boundaries of the subsystem sliding surfaces are given. Simulation results show the feasibility of this control method through two typical SIMO under-actuated systems.
Źródło:: Control and Cybernetics; 2008, 37, 1; 159-175
0324-8569
Pojawia się w:: Control and Cybernetics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 7.

Tytuł:: Ultimate state boundedness of underactuated spacecraft subject to an unmatched disturbance
Autorzy:: Moradi, R.
Alikhani, A.
Jegarkandi, M. F.
Powiązania:: https://bibliotekanauki.pl/articles/280303.pdf
Data publikacji:: 2017
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: underactuated spacecraft stabilization
non-matched disturbances
global uniform ultimate boundedness
Opis:: Ultimate state boundedness for underactuated spacecraft subject to large non-matched disturbances is attained. First, non-smooth time-invariant state feedback control laws that make the origin asymptotically stable are obtained. Then, the controller is extended to make the closed-loop system globally uniformly ultimately bounded under the following conditions: 1) the disturbances acting on the directly actuated states are known and 2) the disturbance acting on the unactuated state is bounded and its profile need not be known. Finally, numerical simulations are presented to verify the analytical results. A large step disturbance is considered, and it is shown that the proposed controller makes the closed-loop system globally uniformly ultimately bounded. The proposed method is rather general and can be extended to other systems.
Źródło:: Journal of Theoretical and Applied Mechanics; 2017, 55, 3; 1055-1066
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 8.

Tytuł:: Implementation of factitious force method for control of 5R manipulator with skid-steering platform REX
Autorzy:: Mazur, A.
Cholewiński, M.
Powiązania:: https://bibliotekanauki.pl/articles/202350.pdf
Data publikacji:: 2016
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: underactuated system
nonholonomic constraint
kinematics
dynamics
kinematyka
dynamika
ograniczenia nieholonomiczne
Opis:: In the paper implementation of the factitious force concept for a controlling complex mobile manipulator has been presented. As the nonholonomic constraint only lack of longitudinal slippage of wheels has been chosen - in skid-steering platforms lateral slippage is necessary to change orientation of such a platform. From a control theory point of view such a system is dynamically underactuated. As a solution to a underactuation problem a method of factitious force has been proposed. This method assumes extension on the dynamics level, in the form of an additional control inputs uv, which values are equal to zero equivalently. For a mobile manipulator, consisting of platform REX and 5R robotic onboard arm, a cascaded control law has been proposed. A simulation study was conducted for a mathematical model of a considered object with real values of physical parameters, i.e. lengths, masses, inertia moments etc. obtained from the 3D model. Results obtained in simulations have shown a proper action of the control system and convergence of tracking errors, occurring in a platform and in joints of a manipulator, to zero.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 1; 71-80
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 9.

Tytuł:: Dynamic analysis and experiment of underactuated double-pendulum anti-swing device for ship-mounted jib cranes
Autorzy:: Wang, Jianli
Liu, Kexin
Wang, Shenghai
Chen, Haiquan
Sun, Yuqing
Niu, Anqi
Li, Haolin
Powiązania:: https://bibliotekanauki.pl/articles/32895577.pdf
Data publikacji:: 2022
Wydawca:: Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:: ship-mounted cranes
underactuated double-pendulum
dynamic simulation
anti-swing control
Opis:: This paper proposes a three degrees of freedom parallel anti-swing method by the main and auxiliary cables to address the problems related to underactuated double-pendulum anti-swing for a ship-mounted jib crane. By analysing the dynamic coupling relationship between the swing of the hook and the payload, it seeks to establish an accurate dynamic model of the anti-swing device under the ship’s rolling and pitching conditions, and discusses the influence of ship excitation, the crane state, load posture and anti-swing parameters on the in-plane and out-of-plane swing angles. The analysis shows that the primary pendulum reduces the in-plane angle by 90% and the out-of-plane angle by 80%, the in-plane angle of the secondary pendulum is reduced by 90%, and the out-of-plane angle is reduced by 80%. The reliability of the simulation data is verified through experiments.
Źródło:: Polish Maritime Research; 2022, 4; 145-154
1233-2585
Pojawia się w:: Polish Maritime Research
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 10.

Tytuł:: Modeling of underactuated mechanical systems in partly specified motion
Modelowanie sterowanych układów mechanicznych realizujących ruch programowy niezupełny
Autorzy:: Blajer, W.
Kołodziejczyk, K.
Powiązania:: https://bibliotekanauki.pl/articles/281657.pdf
Data publikacji:: 2008
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: systemy odwrotne
dynamika odwrotna
underactuated systems
inverse dynamics
differential flatness
servo-constraints
Opis:: This paper deals with the inverse dynamics problem of underactuated mechanical systems subjected to execute partly specified motions. The modeling methodology focuses on a special class of differentially flat systems, represented by a group of relevant technical examples. The governing equations are obtained as index three differential-algebraic equations, and a simple numerical code for their solution is reported. The solution comprises both the dynamic analysis of the underactuated systems in partly specified motion and the synthesis of control that assures realization of such motion.
Praca dotyczy zagadnienia symulacji dynamicznej odwrotnej klasy układów mechanicznych, w których liczba sygnałów sterowania, równa liczbie zadanych charakterystyk ruchu (sygnałów wyjściowych), jest mniejsza od liczby stopni swobody, reprezentowanej przez liczne przykłady techniczne. Równania tak zdefiniowanego ruchu programowego niezupełnego otrzymywane są w postaci równań różniczkowo-algebraicznych o indeksie równym trzy. Omawiany jest prosty, efektywny i stabilny algorytm całkowania tych równań. Rozwiązaniem są przebiegi w czasie zmiennych stanu układu w zadanym ruchu programowym oraz sterowania wymaganego dla realizacji tego ruchu.
Źródło:: Journal of Theoretical and Applied Mechanics; 2008, 46, 2; 383-394
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 11.

Tytuł:: Zadanie śledzenia ścieżki dla pojazdu niedosterowanego
Tracking control of an underactuated vehicle
Autorzy:: Korczak, S.
Powiązania:: https://bibliotekanauki.pl/articles/404182.pdf
Data publikacji:: 2013
Wydawca:: Polskie Towarzystwo Symulacji Komputerowej
Tematy:: układy niedosterowane
śledzenie ścieżki
metoda obliczanego momentu
underactuated systems
tracking
computed torque method
Opis:: Niniejszy artykuł przedstawia problem sterowania układami niedosterowanymi na przykładzie prostego modelu bryły sztywnej pod działaniem siły przyłożonej niecentralnie. Zaprezentowano metodę określania sterowalności układów niedosterowanych, a następnie zaproponowano zadanie śledzenia trajektorii kołowej i ósemkowej za pomocą algorytmu obliczanego momentu. Siła sterująca powodująca sprzężenie równań wymusza modyfikację algorytmu sterowania. Proces obliczeniowy uzupełniono o środowisko wizualizacji trójwymiarowych.
This paper shows a problem of control an underactuated dynamic system. The exemplary model of a rigid body controlled by an eccentric force is presented. Method for controlability check is shown, then the usage of a computed torque algorithm for the tracking problem of circular and eight-curve trajectories is proposed. The coupling force causes the need to modify the algorithm. The calculation process has been extended by a virtual environment for three-dimensional visualizations.
Źródło:: Symulacja w Badaniach i Rozwoju; 2013, 4, 4; 193-201
2081-6154
Pojawia się w:: Symulacja w Badaniach i Rozwoju
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 12.

Tytuł:: A robust controller design method and stability analysis of an underactuated underwater vehicle
Autorzy:: Chin, C. S.
Lau, M. W. S.
Low, E.
Seet, G. G. L.
Powiązania:: https://bibliotekanauki.pl/articles/908396.pdf
Data publikacji:: 2006
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: pojazd podwodny
stabilność
sterowanie odporne
symulacja
underwater vehicle
underactuated
stabilizable
robust controller
simulation
Opis:: The problem of designing a stabilizing feedback controller for an underactuated system is a challenging one since a nonlinear system is not stabilizable by a smooth static state feedback law. A necessary condition for the asymptotical stabilization of an underactuated vehicle to a single equilibrium is that its gravitational field has nonzero elements corresponding to unactuated dynamics. However, global asymptotical stability (GAS) cannot be guaranteed. In this paper, a robust proportional-integralderivative (PID) controller on actuated dynamics is proposed and unactuated dynamics are shown to be global exponentially bounded by the Sordalen lemma. This gives a necessary and sufficient condition to guarantee the global asymptotic stability (GAS) of the URV system. The proposed method is first adopted on a remotely-operated vehicle RRC ROV II designed by the Robotic Research Centre in the Nanyang Technological University (NTU). Through the simulation using the ROV Design and Analysis toolbox (RDA) written at the NTU in the MATLAB/SIMULINK environment, the RRC ROV II is robust against parameter perturbations.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2006, 16, 3; 345-356
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 13.

Tytuł:: Adptive heading control of underactuated unmanned surface vehicle based on improved backpropagation neural network
Autorzy:: Dong, Zaopeng
Li, Jiakang
Liu, Wei
Zhang, Haisheng
Qi, Shijie
Zhang, Zhengqi
Powiązania:: https://bibliotekanauki.pl/articles/32917278.pdf
Data publikacji:: 2023
Wydawca:: Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:: underactuated unmanned surface vehicle
backpropagation neural network controller
heading control
hyperbolic tangent function
Opis:: Aiming at the challenges to the accurate and stable heading control of underactuated unmanned surface vehicles arising from the nonlinear interference caused by the overlay and the interaction of multi interference, and also the uncertainties of model parameters, a heading control algorithm for an underactuated unmanned surface vehicle based on an improved backpropagation neural network is proposed. Based on applying optimization theory to realize that the underactuated unmanned surface vehicle tracks the desired yaw angle and maintains it, the improved momentum of weight is combined with an improved tracking differentiator to improve the robustness of the system and the dynamic property of the control. A hyperbolic tangent function is used to establish the nonlinear mappings an approximate method is adopted to summarize the general mathematical expressions, and the gradient descent method is applied to ensure the convergence. The simulation results show that the proposed algorithm has the advantages of strong robustness, strong anti-interference and high control accuracy. Compared with two commonly used heading control algorithms, the accuracy of the heading control in the complex environment of the proposed algorithm is improved by more than 50%.
Źródło:: Polish Maritime Research; 2023, 1; 54-64
1233-2585
Pojawia się w:: Polish Maritime Research
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 14.

Tytuł:: Method of cooperative formation control for underactuated USVs based on nonlinear backstepping and cascade system theory
Autorzy:: Dong, Zaopeng
Liu, Yang
Wang, Hao
Qin, Tao
Powiązania:: https://bibliotekanauki.pl/articles/1573634.pdf
Data publikacji:: 2021
Wydawca:: Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:: unmanned surface vehicle (USV)
cooperative formation control
underactuated system
nonlinear backstepping
cascade system theory
Opis:: This paper presents a method for the cooperative formation control of a group of underactuated USVs. The problem of formation control is first converted to one of stabilisation control of the tracking errors of the follower USVs using system state transformation design. The followers must keep a fixed distance from the leader USV and a specific heading angle in order to maintain a certain type of formation. A global differential homeomorphism transformation is then designed to create a tracking error system for the follower USVs, in order to simplify the description of the control system. This makes the complex formation control system easy to analyse, and allows it to be decomposed into a cascaded system. In addition, several intermediate state variables and virtual control laws are designed based on nonlinear backstepping, and actual control algorithms for the follower USVs to control the surge force and yaw moment are presented. A global system that can ensure uniform asymptotic stability of the USVs’ cooperative formation control is achieved by combining Lyapunov stability theory and cascade system theory. Finally, several simulation experiments are carried out to verify the validity, stability and reliability of our cooperative formation control method.
Źródło:: Polish Maritime Research; 2021, 1; 149-162
1233-2585
Pojawia się w:: Polish Maritime Research
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 15.

Tytuł:: Robust trajectory tracking control of underactuated surface vehicles with prescribed performance
Autorzy:: Wang, Shasha
Tuo, Yulong
Powiązania:: https://bibliotekanauki.pl/articles/1573775.pdf
Data publikacji:: 2020
Wydawca:: Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:: robust sliding mode control
prescribed performance
guaranteed transient performance
trajectory tracking
underactuated surface vehicle
Opis:: In this paper, a robust sliding mode tracking controller with prescribed performance is developed for an underactuated surface vehicle (USV) with time-varying external disturbances. Firstly, to guarantee the transient and steadystate performance of the closed-loop system, the error transformation technique is presented. Further, the design of the prescribed performance function implements predefined tracking performance constraints, which eliminate the requirement for prior knowledge about the initial errors. Then, a Lyapunov stability synthesis shows that all closed-loop signals remain bounded and the tracking errors remain strictly within the predefined bounds. Finally, simulations and a comparative study are performed to illustrate the robustness and effectiveness of the proposed robust sliding mode control scheme.
Źródło:: Polish Maritime Research; 2020, 4; 148-156
1233-2585
Pojawia się w:: Polish Maritime Research
Dostawca treści:: Biblioteka Nauki

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