22,869 research outputs found
Regulation Theory
This paper reviews the design of regulation loops for power converters. Power
converter control being a vast domain, it does not aim to be exhaustive. The
objective is to give a rapid overview of the main synthesis methods in both
continuous- and discrete-time domains.Comment: 23 pages, contribution to the 2014 CAS - CERN Accelerator School:
Power Converters, Baden, Switzerland, 7-14 May 201
Impulse-Based Hybrid Motion Control
The impulse-based discrete feedback control has been proposed in previous
work for the second-order motion systems with damping uncertainties. The
sate-dependent discrete impulse action takes place at zero crossing of one of
both states, either relative position or velocity. In this paper, the proposed
control method is extended to a general hybrid motion control form. We are
using the paradigm of hybrid system modeling while explicitly specifying the
state trajectories each time the continuous system state hits the guards that
triggers impulsive control actions. The conditions for a stable convergence to
zero equilibrium are derived in relation to the control parameters, while
requiring only the upper bound of damping uncertainties to be known. Numerical
examples are shown for an underdamped closed-loop dynamics with oscillating
transients, an upper bounded time-varying positive system damping, and system
with an additional Coulomb friction damping.Comment: 6 pages, 4 figures, IEEE conferenc
Input to State Stability of Bipedal Walking Robots: Application to DURUS
Bipedal robots are a prime example of systems which exhibit highly nonlinear
dynamics, underactuation, and undergo complex dissipative impacts. This paper
discusses methods used to overcome a wide variety of uncertainties, with the
end result being stable bipedal walking. The principal contribution of this
paper is to establish sufficiency conditions for yielding input to state stable
(ISS) hybrid periodic orbits, i.e., stable walking gaits under model-based and
phase-based uncertainties. In particular, it will be shown formally that
exponential input to state stabilization (e-ISS) of the continuous dynamics,
and hybrid invariance conditions are enough to realize stable walking in the
23-DOF bipedal robot DURUS. This main result will be supported through
successful and sustained walking of the bipedal robot DURUS in a laboratory
environment.Comment: 16 pages, 10 figure
State-space model identification and feedback control of unsteady aerodynamic forces
Unsteady aerodynamic models are necessary to accurately simulate forces and
develop feedback controllers for wings in agile motion; however, these models
are often high dimensional or incompatible with modern control techniques.
Recently, reduced-order unsteady aerodynamic models have been developed for a
pitching and plunging airfoil by linearizing the discretized Navier-Stokes
equation with lift-force output. In this work, we extend these reduced-order
models to include multiple inputs (pitch, plunge, and surge) and explicit
parameterization by the pitch-axis location, inspired by Theodorsen's model.
Next, we investigate the na\"{\i}ve application of system identification
techniques to input--output data and the resulting pitfalls, such as unstable
or inaccurate models. Finally, robust feedback controllers are constructed
based on these low-dimensional state-space models for simulations of a rigid
flat plate at Reynolds number 100. Various controllers are implemented for
models linearized at base angles of attack , and . The resulting control laws are
able to track an aggressive reference lift trajectory while attenuating sensor
noise and compensating for strong nonlinearities.Comment: 20 pages, 13 figure
Second-order discrete Kalman filtering equations for control-structure interaction simulations
A general form for the first-order representation of the continuous, second-order linear structural dynamics equations is introduced in order to derive a corresponding form of first-order Kalman filtering equations (KFE). Time integration of the resulting first-order KFE is carried out via a set of linear multistep integration formulas. It is shown that a judicious combined selection of computational paths and the undetermined matrices introduced in the general form of the first-order linear structural systems leads to a class of second-order discrete KFE involving only symmetric, N x N solution matrix
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