Relevant bibliographies by topics / Velocity free control

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Velocity free control'

Author: Grafiati
Published: 4 June 2021
Last updated: 13 February 2022

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Journal articles on the topic "Velocity free control"

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Chen, Shini, and Xia Liu. "Velocity-Free Adaptive Time Delay Control of Robotic System." Mathematical Problems in Engineering 2020 (November 23, 2020): 1–14. http://dx.doi.org/10.1155/2020/9160592.

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To improve the trajectory tracking performance of a complex nonlinear robotic system, a velocity-free adaptive time delay control is proposed. First, considering that conventional time delay control (TDC) may cause large time delay estimation (TDE) error under nonlinear friction, a TDC with gradient estimator is designed. Next, since it is complicated and time-consuming to adjust gains manually, an adaptive law is designed to estimate the gain of the gradient. Finally, in order to avoid the measurement of velocity and acceleration in the controller while enabling the robot to implement position tracking, an observer is designed. The proposed control can not only offset the nonlinear terms in the complex dynamics of the robotic system but also reduce the TDE error, estimate the gain of the gradient online, and avoid the measurement of velocity and acceleration. The stability of the system is analyzed via Lyapunov function. Simulations are conducted on a 2-DOF robot to verify the effectiveness of the proposed control.
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Frias, Alexander, Anton H. J. de Ruiter, and Krishna Dev Kumar. "Velocity-free spacecraft attitude stabilization using two control torques." Automatica 109 (November 2019): 108553. http://dx.doi.org/10.1016/j.automatica.2019.108553.

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Zotovic Stanisic, Ranko, and Ángel Valera Fernández. "Simultaneous velocity, impact and force control." Robotica 27, no. 7 (2009): 1039–48. http://dx.doi.org/10.1017/s0263574709005451.

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SUMMARYIn this paper, we propose a control method to achieve three objectives simultaneously: velocity regulation during free motion, impact damping and finally force reference tracking. During impact, the parameters are switched in order to dissipate the energy of the system as fast as possible and the optimal switching criteria are deduced. The possibility of sliding regimes is analysed and the theoretical results are verified in simulations.
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Hu, Qinglei, Jian Zhang, and Youmin Zhang. "Velocity-free attitude coordinated tracking control for spacecraft formation flying." ISA Transactions 73 (February 2018): 54–65. http://dx.doi.org/10.1016/j.isatra.2017.12.019.

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Guo, Yong, Bing Huang, Jin-hua Guo, Ai-jun Li, and Chang-qing Wang. "Velocity-free sliding mode control for spacecraft with input saturation." Acta Astronautica 154 (January 2019): 1–8. http://dx.doi.org/10.1016/j.actaastro.2018.10.045.

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Polack, Philip, Sébastien Delprat, and Brigitte d’Andréa-Novel. "Brake and velocity model-free control on an actual vehicle." Control Engineering Practice 92 (November 2019): 104072. http://dx.doi.org/10.1016/j.conengprac.2019.06.011.

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FFOWCS WILLIAMS, J. E., and W. MÖHRING. "Control action for stabilizing free shear layers." Journal of Fluid Mechanics 404 (February 10, 2000): 27–46. http://dx.doi.org/10.1017/s0022112099007156.

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The possibility of acoustic control of the two-dimensional instabilities of a lossless plane shear layer of vanishing thickness is studied. The shear layer is formed from a body of incompressible fluid sliding over another fluid at rest. It is unstable through the generation of Kelvin–Helmholtz waves. We consider the possibility of adding to this linearly unstable flow a simple source, driven in such a way that its field interferes destructively with the instability to render the flow stable. The required strength of the unsteady control source is determined in terms of the fluctuating velocity at some fixed position in the moving fluid. We show that no unstable Kelvin–Helmholtz wave could survive the action of such a source. Next, we examine the scope for constructing the control signal from a measurement of the flow velocity at some fixed position. The source is a linear functional of the monitored velocity and we give the transfer function that would be required for the instabilities to be controlled. We prove that such control action would completely stabilize the otherwise unstable vortex sheet, and that other alternative sensor/actuator arrangements could also be effective. We go on to show that our particular very simple arrangement could not in fact be realized because, if required to work at all frequencies, it would not be causal. If we insisted on causality the vortex sheet would then only be stabilized over most frequencies. That would of course make the controlled flow completely different from the vortex sheet whose instabilities are so well known – and troublesome. We conjecture that there will exist some variations of the basic control arrangement described here that are both physically realizable and effective over the required frequency range. From our study of the initial value problem we have concluded that short perturbations would be attenuated very rapidly.
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Liu, Xiaoping, Yao Zou, Ziyang Meng, and Zheng You. "Velocity-free coordinated attitude synchronisation and tracking control of multiple spacecraft." IET Control Theory & Applications 14, no. 3 (2020): 461–69. http://dx.doi.org/10.1049/iet-cta.2019.0779.

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Zou, An-Min, Anton H. J. de Ruiter, and Krishna Dev Kumar. "Distributed finite-time velocity-free attitude coordination control for spacecraft formations." Automatica 67 (May 2016): 46–53. http://dx.doi.org/10.1016/j.automatica.2015.12.029.

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Ghallab, Ahmed G., and Ian R. Petersen. "Velocity-Free Attitude Control of Quadrotors: A Nonlinear Negative Imaginary Approach." Sensors 21, no. 7 (2021): 2387. http://dx.doi.org/10.3390/s21072387.

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In this paper, we propose a new approach to the attitude control of quadrotors, by which angular velocity measurements or a model-based observer reconstructing the angular velocity are not needed. The proposed approach is based on recent stability results obtained for nonlinear negative imaginary systems. In specific, through an inner-outer loop method, we establish the nonlinear negative imaginary property of the quadrotor rotational subsystem. Then, a strictly negative imaginary controller is synthesized using the nonlinear negative imaginary results. This guarantees the robust asymptotic stability of the attitude of the quadrotor in the face of modeling uncertainties and external disturbances. First simulation results underline the effectiveness of the proposed attitude control approach are presented.
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Dissertations / Theses on the topic "Velocity free control"

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Abo, Abdulla. "A three-dimensional flow model for different cross-section high-velocity channels." Thesis, University of Plymouth, 2013. http://hdl.handle.net/10026.1/2852.

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High velocity channels are typically designed to discharge surplus water during severe flood events, and these types of flow are distinguished by high velocity, usually supercritical. A major challenge in high velocity channel design is to predict the free surface flow. Being able to predict the free surface flow profile beforehand can assist in selecting the best design for the channel as a whole. When the flow encounters a bridge pier, the streamline of the flow is separated and pressure may drop to a minimum; in contrast, velocity rises to its maximum value. As a result, cavitation damage may occur. The present study has used the computational fluid dynamics code ANSYS-CFX to investigate a full scale, three-dimensional engineering flow simulation of high velocity channels with different cross sections. The simulations were carried out on a high performance computing HPC cluster with 32 nodes. The code is based on the finite volume method and the Volume of Fluid (VOF) method was used to predict the position of the free surface profile. The impact of variation of the following parameters was investigated in terms of the free surface flow profile, both along the centreline and the wall of the channel: the minimum cavity index, and maximum shear stress on both bed and wall of the channel and on bridge pier; aspect ratio (channel bed width/flow depth), bed and side slopes of the channel, different discharges, which are represented by Froude numbers; the length and thickness of the bridge pier. First, the code sensitivity tools for convergence were examined. For this purpose, cases with different mesh sizes were examined and the best size chosen, depending on computation expense and convergence. Then, different turbulence models, such as the standard k-ε, RNG k-ε, and SST turbulence models were tested. The results show that the standard k-ε gives satisfactory results. Next, efforts were made to establish whether the flow achieved steady state conditions. This involved simulating two cases, one with steady state and the other with a transient state. Comparison of the two results shows that the flow properties do not change after three seconds and stay stable thereafter, so the flow can be considered as attaining a steady state. Finally, symmetry within the model geometry was tested, as this would allow a reduction in computation time, with only one side of the symmetrical model needing to be simulated. Two cases were investigated: firstly a simulation of only half of the channel geometry, and secondly a full geometry simulation. A comparison of the results of each case showed that the flow can be considered symmetrical along the centreline of the channel. Next, the code was validated against both numerical and experimental published results. For the free surface flow profile and velocity distribution the published experimental and numerical work of Stockstill (1996) was used; the ANSYS-CFX code results agree more closely with Stockstill’s experimental data than Stockstill’s numerical data. To test for shear stress distribution on the wall, uniform flow within a trapezoidal cross section channel was investigated and the results compared with those presented in the literature. The comparison shows good agreement between the ANSYS-CFX and published experimental works, for the predicted shear stress distributions on the walls and the bed of the channel. In total, sixty cases were simulated in order to investigate the impact of variations in the aforementioned parameters on maximum flow depth (both along the centreline and the wall of the channel) minimum cavity index, and maximum shear stress on both bed and wall of the channel and on bridge pier. Finally, non-dimensional curves are provided in addition to formulae derived from the data regression, which are intended to provide useful guidelines for designers.
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Johansson, Jonas, and Daniel Petersson. "Torque Sensor Free Power Assisted Wheelchair." Thesis, Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-656.

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<p>A power assisted wheelchair combines human power, which is delivered by the arms through the pushrims, with electrical motors, which are powered by a battery. Today’s electric power assisted wheelchairs use force sensors to measure the torque exerted on the pushrims by the user. The force sensors in the pushrims are rather expensive and this approach also makes the wheels a little bit clumsy. The objective with this project is to find a new, better and cheaper solution that does not use expensive force sensors in the pushrims. The new power assisted wheelchair will instead only rely on its velocity, which is measured with rotational encoders, as feedback signal and thereby the project name “Torque Sensor Free Power Assisted Wheelchair”. </p><p> </p><p>The project consisted of two main parts; an extensive construction part, where an ordinary joystick controlled motorized wheelchair has been rebuild to the new power assisted wheelchair without torque sensors and a development part, where different torque sensor free controllers has been designed, simulated, programmed and tested.</p><p>The project resulted in a torque sensor free power assisted wheelchair, where the final implemented design is a proportional derivative controller, which gives a very good assisting system that is robust and insensitive to measurement noise. The proportional derivative control design gives two adjustable parameters, which can be tuned to fit a certain user; one parameter is used to adjust the amplification of the user’s force and the other one is used to change the lasting time of the propulsion influence.</p><p>Since the new assisting control system only relies on the velocity, the torque sensor free power assisted wheelchair will besides giving the user assisting power also give an assistant, which pushes the wheelchair, additional power. This is a big advantage compared to the pushrim activated one, where this benefit for the assistant is not possible.</p>
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Yang, Sungpil. "Adaptive control for double-integrator class systems in the absence of velocity feedback." 2012. http://hdl.handle.net/2152/19992.

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This work considers formulation of new classes of adaptive controllers for double-integrator type systems where the underlying system parameters are uncertain and the complete state-vector is not available for feedback. Given the parameter uncertainty within the system model, a "separation principle" cannot generally be invoked towards an observer geared towards reconstruction of the full state vector using only measured variables. In this report, controllers are designed for some important sub-classes of Euler-Lagrange type mechanical systems, where states are physically interpreted as position and velocity variables, and only the position part of the state vector is available as measured output. The typical approach to obtain velocity estimates using position interpolation (also known as dirty differentiation), is known to be strongly susceptible to measurement noise and therefore does not usually represent a robust option for feedback control implementation. The proposed control scheme achieves global asymptotic stability for system dynamics subject to the condition that velocity states appear within the governing dynamics in a linear fashion. This arguably restrictive condition is loosened for the special case of scalar system with friction non-linearity as is typical within hardware implementations. The objective is to study prototypical mechanical systems with non-linearity appearing in the velocity rate equations with the eventual applications envisioned towards the attitude control problem accounting for the gyroscopic non-linearity in the Euler rotational dynamics. Based on classical certainty equivalence approaches for adaptive control, one cannot readily deal with cross terms associated with parameter estimates and unmeasured states in the Lyapunov function derivative in order to make the Lyapunov function negative definite or negative semi-definite. However, employing a new approach, this obstacle is shown in this report to be circumvented for scalar systems. In order to generalize the methodology for higher-order dynamics, a filtered state approach is used. Specifically, an auxiliary variable is introduced which plays an important role in determining restrictions on the control parameters and analyzing the stability. The proposed approach helps to overcome the uniform detectability obstacle. Additionally, this work can be applied to uncertain linear systems where independent control inputs are applied on each of the velocity state dynamics. Lastly, the solution for the scalar is applied to the rotor speed control system and is extended to the case where Coulomb friction is considered in addition to viscous friction. Since a sign function can be approximated as a hyperbolic tangent, the tanh model is used for the Coulomb friction. A controller is developed with the assumption that the coefficients of these frictions are unknown. The proposed control is then verified with Educational Control Product Model 750 Control Moment Gyroscope, and the simulation and actual test results are compared.<br>text
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Book chapters on the topic "Velocity free control"

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Rybus, Tomasz, Tomasz Barciński, Jakub Lisowski, and Karol Seweryn. "Analyses of a Free-Floating Manipulator Control Scheme Based on the Fixed-Base Jacobian with Spacecraft Velocity Feedback." In Aerospace Robotics II. Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-13853-4_6.

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Hu, Qinglei, Bing Xiao, Bo Li, and Youmin Zhang. "Fault-tolerant velocity-free attitude control." In Fault-Tolerant Attitude Control of Spacecraft. Elsevier, 2021. http://dx.doi.org/10.1016/b978-0-32-389863-8.00015-0.

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Marks II, Robert J. "Introduction." In Handbook of Fourier Analysis & Its Applications. Oxford University Press, 2009. http://dx.doi.org/10.1093/oso/9780195335927.003.0006.

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Jean Baptiste Joseph Fourier’s powerful idea of decomposition of a signal into sinusoidal components has found application in almost every engineering and science field. An incomplete list includes acoustics [1497], array imaging [1304], audio [1290], biology [826], biomedical engineering [1109], chemistry [438, 925], chromatography [1481], communications engineering [968], control theory [764], crystallography [316, 498, 499, 716], electromagnetics [250], imaging [151], image processing [1239] including segmentation [1448], nuclear magnetic resonance (NMR) [436, 1009], optics [492, 514, 517, 1344], polymer characterization [647], physics [262], radar [154, 1510], remote sensing [84], signal processing [41, 154], structural analysis [384], spectroscopy [84, 267, 724, 1220, 1293, 1481, 1496], time series [124], velocity measurement [1448], tomography [93, 1241, 1242, 1327, 1330, 1325, 1331], weather analysis [456], and X-ray diffraction [1378], Jean Baptiste Joseph Fourier’s last name has become an adjective in the terms like Fourier series [395], Fourier transform [41, 51, 149, 154, 160, 437, 447, 926, 968, 1009, 1496], Fourier analysis [151, 379, 606, 796, 1472, 1591], Fourier theory [1485], the Fourier integral [395, 187, 1399], Fourier inversion [1325], Fourier descriptors [826], Fourier coefficients [134], Fourier spectra [624, 625] Fourier reconstruction [1330], Fourier spectrometry [84, 355], Fourier spectroscopy [1220, 1293, 1438], Fourier array imaging [1304], Fourier transform nuclear magnetic resonance (NMR) [429, 1004], Fourier vision [1448], Fourier optics [419, 517, 1343], and Fourier acoustics [1496]. Applied Fourier analysis is ubiquitous simply because of the utility of its descriptive power. It is second only to the differential equation in the modelling of physical phenomena. In contrast with other linear transforms, the Fourier transform has a number of physical manifestations. Here is a short list of everyday occurrences as seen through the lens of the Fourier paradigm. • Diffracting coherent waves in sonar and optics in the far field are given by the two dimensional Fourier transform of the diffracting aperture. Remarkably, in free space, the physics of spreading light naturally forms a two dimensional Fourier transform. • The sampling theorem, born of Fourier analysis, tells us how fast to sample an audio waveform to make a discrete time CD or an image to make a DVD.
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Conference papers on the topic "Velocity free control"

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Wu, Tse-Huai, and Taeyoung Lee. "Angular velocity observer for velocity-free attitude tracking control on SO(3)." In 2015 European Control Conference (ECC). IEEE, 2015. http://dx.doi.org/10.1109/ecc.2015.7330803.

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Berkane, Soulaimane, and Abdelhamid Tayebi. "Velocity-free hybrid attitude stabilization using inertial vector measurements." In 2016 American Control Conference (ACC). IEEE, 2016. http://dx.doi.org/10.1109/acc.2016.7526619.

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Shi, Xingwei, Wei Wang, Defu Lin, and Yi Ji. "Velocity-Free Guidance Scheme for Close-Range Rendezvous." In 2018 IEEE CSAA Guidance, Navigation and Control Conference (GNCC). IEEE, 2018. http://dx.doi.org/10.1109/gncc42960.2018.9019050.

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Fan, Ming-Can, Zhiyong Chen, and Hai-Tao Zhang. "Velocity-free compact rigid flock control with input saturations." In 2013 25th Chinese Control and Decision Conference (CCDC). IEEE, 2013. http://dx.doi.org/10.1109/ccdc.2013.6560941.

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Mebarki, Rafik, and Bruno Siciliano. "Velocity-free image-based control of Unmanned Aerial Vehicles." In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 2013. http://dx.doi.org/10.1109/aim.2013.6584311.

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Tayebi, Abdelhamid. "A velocity-free attitude tracking controller for rigid spacecraft." In 2007 46th IEEE Conference on Decision and Control. IEEE, 2007. http://dx.doi.org/10.1109/cdc.2007.4434055.

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Tayebi, A., A. Roberts, and A. Benallegue. "Inertial measurements Based dynamic attitude estimation and velocity-free attitude stabilization." In 2011 American Control Conference. IEEE, 2011. http://dx.doi.org/10.1109/acc.2011.5990812.

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Sehoon Oh and Y. Hori. "Sensor Free Power Assisting Control Based on Velocity Control and Disturbance Observer." In Proceedings of the IEEE International Symposium on Industrial Electronics. IEEE, 2005. http://dx.doi.org/10.1109/isie.2005.1529190.

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Zhu, Zhihao, Yu Guo, and Zhi Gao. "Distributed leader-following velocity-free coordinated attitude tracking control for multiple spacecraft." In 2019 Chinese Control Conference (CCC). IEEE, 2019. http://dx.doi.org/10.23919/chicc.2019.8865456.

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Tang, Qiang, Yan Wang, Xinglin Chen, and Yongjun Lei. "Nonlinear attitude control of rigid body with bounded control input and velocity-free." In 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2009. http://dx.doi.org/10.1109/robio.2009.5420439.

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