WorldWideScience

Sample records for sun tracking control

  1. Optimal control of sun tracking solar concentrators

    Science.gov (United States)

    Hughes, R. O.

    1979-01-01

    Application of the modern control theory to derive an optimal sun tracking control for a point focusing solar concentrator is presented. A standard tracking problem converted to regulator problem using a sun rate input achieves an almost zero steady state tracking error with the optimal control formulation. However, these control techniques are costly because optimal type algorithms require large computing systems, thus they will be used mainly as comparison standards for other types of control algorithms and help in their development.

  2. Application of new control strategy for sun tracking

    Energy Technology Data Exchange (ETDEWEB)

    Rubio, F.R.; Ortega, M.G.; Gordillo, F.; Lopez-Martinez, M. [Depto. Ingenieria de Sistemas y Automatica, Escuela Superior de Ingenieros, Universidad de Sevilla, 41092 Sevilla (Spain)

    2007-07-15

    The application of high concentration solar cells technology allows a significant increase in the amount of energy collected by solar arrays per unit area. However, to make it possible, more severe specifications on the sun pointing error are required. In fact, the performance of solar cells with concentrators decreases drastically if this error is greater than a small value. These specifications are not fulfilled by simple tracking systems due to different sources of errors (e.g., small misalignments of the structure with respect to geographical north) that appear in practice in low cost, domestic applications. This paper presents a control application of a sun tracker that is able to follow the sun with high accuracy without the necessity of either a precise procedure of installation or recalibration. A hybrid tracking system that consists of a combination of open loop tracking strategies based on solar movement models and closed loop strategies using a dynamic feedback controller is presented. Energy saving factors are taken into account, which implies that, among other factors, the sun is not constantly tracked with the same accuracy, to prevent energy overconsumption by the motors. Simulation and experimental results with a low cost two axes solar tracker are exposed, including a comparison between a classical open loop tracking strategy and the proposed hybrid one. (author)

  3. Maximizing Output Power of a Solar Panel via Combination of Sun Tracking and Maximum Power Point Tracking by Fuzzy Controllers

    OpenAIRE

    Mohsen Taherbaneh; A. H. Rezaie; H. Ghafoorifard; Rahimi, K; M. B. Menhaj

    2010-01-01

    In applications with low-energy conversion efficiency, maximizing the output power improves the efficiency. The maximum output power of a solar panel depends on the environmental conditions and load profile. In this paper, a method based on simultaneous use of two fuzzy controllers is developed in order to maximize the generated output power of a solar panel in a photovoltaic system: fuzzy-based sun tracking and maximum power point tracking. The sun tracking is performed by changing the solar...

  4. Optimization Controller for Mechatronic Sun Tracking System to Improve Performance

    Directory of Open Access Journals (Sweden)

    Mustafa Engin

    2013-01-01

    Full Text Available An embedded system that contains hardware and software was developed for two-axis solar tracking system to improve photovoltaic panel utilization. The hardware section of the embedded system consists of a 32-bit ARM core microcontroller, motor driver circuits, a motion control unit, pyranometer, GPS receiver, and an anemometer. The real-time control algorithm enables the solar tracker to operate automatically without external control as a stand-alone system, combining the advantages of the open-loop and the closed-loop control methods. The pyranometer is employed to continuously send radiation data to the controller if the measured radiation is above the lower radiation limit the photovoltaic panel can generate power, guaranteeing the solar tracking process to be highly efficient. The anemometer is utilized in the system to ensure that the solar tracking procedure halts under high wind speed conditions to protect the entire system. Latitude, longitude, altitude, date, and real-time clock data are provided by GPS receiver. The algorithm calculates solar time using astronomical equations with GPS data and converts it to pulse-width modulated motor control signal. The overall objective of this study is to develop a control algorithm that improves performance and reliability of the two-axis solar tracker, focusing on optimization of the controller board, drive hardware, and software.

  5. Design and Implementation of Neuro-Fuzzy Controller Using FPGA for Sun Tracking System

    Directory of Open Access Journals (Sweden)

    Ammar A. Aldair

    2016-12-01

    Full Text Available Nowadays, renewable energy is being used increasingly because of the global warming and destruction of the environment. Therefore, the studies are concentrating on gain of maximum power from this energy such as the solar energy. A sun tracker is device which rotates a photovoltaic (PV panel to the sun to get the maximum power. Disturbances which are originated by passing the clouds are one of great challenges in design of the controller in addition to the losses power due to energy consumption in the motors and lifetime limitation of the sun tracker. In this paper, the neuro-fuzzy controller has been designed and implemented using Field Programmable Gate Array (FPGA board for dual axis sun tracker based on optical sensors to orient the PV panel by two linear actuators. The experimental results reveal that proposed controller is more robust than fuzzy logic controller and proportional-integral (PI controller since it has been trained offline using Matlab tool box to overcome those disturbances. The proposed controller can track the sun trajectory effectively, where the experimental results reveal that dual axis sun tracker power can collect 50.6% more daily power than fixed angle panel. Whilst one axis sun tracker power can collect 39.4 % more daily power than fixed angle panel. Hence, dual axis sun tracker can collect 8 % more daily power than one axis sun tracker.

  6. Maximizing Output Power of a Solar Panel via Combination of Sun Tracking and Maximum Power Point Tracking by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Mohsen Taherbaneh

    2010-01-01

    Full Text Available In applications with low-energy conversion efficiency, maximizing the output power improves the efficiency. The maximum output power of a solar panel depends on the environmental conditions and load profile. In this paper, a method based on simultaneous use of two fuzzy controllers is developed in order to maximize the generated output power of a solar panel in a photovoltaic system: fuzzy-based sun tracking and maximum power point tracking. The sun tracking is performed by changing the solar panel orientation in horizontal and vertical directions by two DC motors properly designed. A DC-DC converter is employed to track the solar panel maximum power point. In addition, the proposed system has the capability of the extraction of solar panel I-V curves. Experimental results present that the proposed fuzzy techniques result in increasing of power delivery from the solar panel, causing a reduction in size, weight, and cost of solar panels in photovoltaic systems.

  7. Disturbance observer-based fuzzy control for flexible spacecraft combined attitude & sun tracking system

    Science.gov (United States)

    Chak, Yew-Chung; Varatharajoo, Renuganth; Razoumny, Yury

    2017-04-01

    This paper investigates the combined attitude and sun-tracking control problem in the presence of external disturbances and internal disturbances, caused by flexible appendages. A new method based on Pythagorean trigonometric identity is proposed to drive the solar arrays. Using the control input and attitude output, a disturbance observer is developed to estimate the lumped disturbances consisting of the external and internal disturbances, and then compensated by the disturbance observer-based controller via a feed-forward control. The stability analysis demonstrates that the desired attitude trajectories are followed even in the presence of external disturbance and internal flexible modes. The main features of the proposed control scheme are that it can be designed separately and incorporated into the baseline controller to form the observer-based control system, and the combined attitude and sun-tracking control is achieved without the conventional attitude actuators. The attitude and sun-tracking performance using the proposed strategy is evaluated and validated through numerical simulations. The proposed control solution can serve as a fail-safe measure in case of failure of the conventional attitude actuator, which triggered by automatic reconfiguration of the attitude control components.

  8. Adaptive Jacobian Fuzzy Attitude Control for Flexible Spacecraft Combined Attitude and Sun Tracking System

    Science.gov (United States)

    Chak, Yew-Chung; Varatharajoo, Renuganth

    2016-07-01

    Many spacecraft attitude control systems today use reaction wheels to deliver precise torques to achieve three-axis attitude stabilization. However, irrecoverable mechanical failure of reaction wheels could potentially lead to mission interruption or total loss. The electrically-powered Solar Array Drive Assemblies (SADA) are usually installed in the pitch axis which rotate the solar arrays to track the Sun, can produce torques to compensate for the pitch-axis wheel failure. In addition, the attitude control of a flexible spacecraft poses a difficult problem. These difficulties include the strong nonlinear coupled dynamics between the rigid hub and flexible solar arrays, and the imprecisely known system parameters, such as inertia matrix, damping ratios, and flexible mode frequencies. In order to overcome these drawbacks, the adaptive Jacobian tracking fuzzy control is proposed for the combined attitude and sun-tracking control problem of a flexible spacecraft during attitude maneuvers in this work. For the adaptation of kinematic and dynamic uncertainties, the proposed scheme uses an adaptive sliding vector based on estimated attitude velocity via approximate Jacobian matrix. The unknown nonlinearities are approximated by deriving the fuzzy models with a set of linguistic If-Then rules using the idea of sector nonlinearity and local approximation in fuzzy partition spaces. The uncertain parameters of the estimated nonlinearities and the Jacobian matrix are being adjusted online by an adaptive law to realize feedback control. The attitude of the spacecraft can be directly controlled with the Jacobian feedback control when the attitude pointing trajectory is designed with respect to the spacecraft coordinate frame itself. A significant feature of this work is that the proposed adaptive Jacobian tracking scheme will result in not only the convergence of angular position and angular velocity tracking errors, but also the convergence of estimated angular velocity to

  9. Biomimetic photo-actuation: sensing, control and actuation in sun-tracking plants.

    Science.gov (United States)

    Dicker, M P M; Rossiter, J M; Bond, I P; Weaver, P M

    2014-09-01

    Although the actuation mechanisms that drive plant movement have been investigated from a biomimetic perspective, few studies have looked at the wider sensing and control systems that regulate this motion. This paper examines photo-actuation-actuation induced by, and controlled with light-through a review of the sun-tracking functions of the Cornish Mallow. The sun-tracking movement of the Cornish Mallow leaf results from an extraordinarily complex-yet extremely elegant-process of signal perception, generation, filtering and control. Inspired by this process, a concept for a simplified biomimetic analogue of this leaf is proposed: a multifunctional structure employing chemical sensing, signal transmission, and control of composite hydrogel actuators. We present this multifunctional structure, and show that the success of the concept will require improved selection of materials and structural design. This device has application in the solar-tracking of photovoltaic panels for increased energy yield. More broadly it is envisaged that the concept of chemical sensing and control can be expanded beyond photo-actuation to many other stimuli, resulting in new classes of robust solid-state devices.

  10. Design and Implementation of Neuro-Fuzzy Controller Using FPGA for Sun Tracking System

    OpenAIRE

    2016-01-01

    Nowadays, renewable energy is being used increasingly because of the global warming and destruction of the environment. Therefore, the studies are concentrating on gain of maximum power from this energy such as the solar energy. A sun tracker is device which rotates a photovoltaic (PV) panel to the sun to get the maximum power. Disturbances which are originated by passing the clouds are one of great challenges in design of the controller in addition to the losses power due to energy consumpti...

  11. Thermal evaluation of a sun tracking solar cooker

    Directory of Open Access Journals (Sweden)

    Yousif El-Tous, Omar. O. Badran, Anwar Al-Mofleh

    2012-01-01

    Full Text Available Solar energy is one of many important types of renewable energy. Jordan is of great needs for renewable energy systems applications since it depends totally in generation of its required energy on imported oil. This study is an experimental work of tracking system developed for enhancing the solar heating using solar cooker. An electronic sun tracking device was used for rotating the solar heater with the movement of the sun. A comparison between fixed and sun tracked cooker showed that the use of sun tracking increased the heating temperature by 36% due to the increase in radiation concentration and using internal mirror reflectors. The programming method used for tracking control works efficiently in all weather conditions regardless of the presence of clouds. It can be used as backup control circuit in which relays are the essential control devices.

  12. Design of all-weather control system for sun tracking%全天候太阳方位跟踪控制系统的设计

    Institute of Scientific and Technical Information of China (English)

    左云波; 徐小力; 白廷柱; 乔道鄂

    2011-01-01

    采用光感跟踪与时间跟踪相结合的方法,设计了全天候太阳方位跟踪控制系统.该系统包括监测装置、跟踪方式转换控制模块和双跟踪方式控制模块.监测装置监测天气状态为跟踪方式转换控制模块提供判断依据,跟踪方式转换控制模块发出指令启动相关跟踪方式,控制传动及支撑装置的运动,以改变太阳能电池板采光面的位置.系统的跟踪精度高,跟踪能耗低.%The efficiency of photovoltaie generation system can be improved by using solar tracking device. But at present, sun tracking methods cannot adapt the change of climate and the energy of the system was wasted. In order to solve this problem, a new tracking method which combined the photovoltaic tracking method and time tracking method was presented and an all-weather control system for sun tracking was designed. The system includes the monitoring device, the switching control module and two-tracking control modules. The monitoring device is used to monitor the status of climate and send the information to the switching control module. The switching control module makes a judge and sends instructions. The two-tracking control modules start the right tracking style and controis the transmission-bracing device to change the position of solar battery unit. The new system can monitor the change of the climate in time and choose the reasonable tracking method according to the status of the climate. It can improve the tracking precision and reduce the energy consumption of sun tracking system.

  13. Tracking Planets around the Sun

    Science.gov (United States)

    Riddle, Bob

    2008-01-01

    In earlier columns, the celestial coordinate system of hour circles of right ascension and degrees of declination was introduced along with the use of an equatorial star chart (see SFA Star Charts in Resources). This system shows the planets' motion relative to the ecliptic, the apparent path the Sun follows during the year. An alternate system,…

  14. Tracking Planets around the Sun

    Science.gov (United States)

    Riddle, Bob

    2008-01-01

    In earlier columns, the celestial coordinate system of hour circles of right ascension and degrees of declination was introduced along with the use of an equatorial star chart (see SFA Star Charts in Resources). This system shows the planets' motion relative to the ecliptic, the apparent path the Sun follows during the year. An alternate system,…

  15. Complete Solution of Sun Tracking for Heliostat

    Institute of Scientific and Technical Information of China (English)

    CHEN Ying-Tian; LIM Boon-Han; LIM Chern-Sing

    2006-01-01

    A general solution of sun tracking for an arbitrarily oriented heliostat towards an arbitrarily located target on the earth is published. With the most general form of solar tracking formulae, it is seen that the used azimuthelevation, spinning-elevation tracking formulae etc. are the special cases of it. The possibilities of utilizing the general solution and its significance in solar energy engineering are discussed.

  16. Complete Solution of Sun Tracking for Heliostat

    Science.gov (United States)

    Chen, Ying-Tian; Lim, Boon-Han; Lim, Chern-Sing

    2006-01-01

    A general solution of sun tracking for an arbitrarily oriented heliostat towards an arbitrarily located target on the earth is published. With the most general form of solar tracking formulae, it is seen that the used azimuth-elevation, spinning-elevation tracking formulae etc. are the special cases of it. The possibilities of utilizing the general solution and its significance in solar energy engineering are discussed.

  17. 太阳自动跟踪控制系统的设计%Design of Sun Automatic Tracking Control System

    Institute of Scientific and Technical Information of China (English)

    默少丽; 王鹏月

    2012-01-01

    This paper designs a sun-tracking system based on photoelectric detection, and longitude and latitude to improve the photovoltaic conversion efficiency of solar cells. The system can accurately track the sun by utilizing photoelectric conversion equipment and GPS module with STM32 as the control core. At the time of system startup, the system achieves inaccurate track based on the sun angle tracking mode, and then it turns to the mode of photoelectric tracking to complete accurate tracking which makes the sunlight perpendicular to solar cells. Meanwhile, the system has self-diagnosis function that can automatically turn the system to the sun-angle-tracking mode to make the system more stable and reliable when photoelectric detection is abnormal.%为了提高太阳能电池光伏转换效率,通过对目前太阳追踪方式的研究,设计了一种基于光电检测和经纬度双重跟踪的智能追光系统.该系统以5TM32单片机为控制核心,并结合光电转换装置和GPS模块实现了对太阳的精确跟踪.系统启动运行时,通过基于经纬度的视日运动轨迹跟踪实现系统粗调,随后转入光电检测精确跟踪,使太阳能电池与太阳光垂直.系统同时加入光电检测装置的自诊断功能,当光电检测装置异常时,自动切换到视日运动轨迹跟踪模式,使系统运行更加稳定和可靠.

  18. Design of solar cell lighting and sun tracking system

    Energy Technology Data Exchange (ETDEWEB)

    Khaing, A.A. [Mandalay Technological Univ., Mandalay (Myanmar); Ministry of Science, Yangon (Myanmar)

    2008-07-01

    A solar cell lighting and sun tracking system was discussed and the characteristics of solar cells were studied. An SM50H solar module was analyzed with a maximum power rating of 50 W and a current rate of 3.15 A. The main components of the system include solar cells, charged controllers, and a sun tracking system. The solar tracker is an automatic control system designed to track the solar modules in relation to the sun's direction. A linear drive actuator was used to track the modules with an energy consumption rate between 24 and 36 DC voltages. Power output solar cell equations were presented along with a review of batteries used for stationary and portable solar energy equipment. Issues related to cost of tracking systems were discussed. System sizing recommendations were provided, and solar cell design requirements were reviewed. A comparison of tracking and fixed solar energy systems was presented for a day in Yangon, Myanmar. It was concluded that solar tracking systems can be used to provide energy in rural and remote areas. 18 refs., 4 tabs., 5 figs.

  19. Design and Implementation of PLC-Based Automatic Sun tracking System for Parabolic Trough Solar Concentrator

    Directory of Open Access Journals (Sweden)

    Wang Jinping

    2016-01-01

    Full Text Available A sun-tracking system for parabolic trough solar concentrators (PTCs is a control system used to orient the concentrator toward the sun always, so that the maximum energy can be collected. The work presented here is a design and development of PLC based sun tracking control system for PTC. Sun tracking control system consists of a Programmable Logic Controller (PLC and a single axis hydraulic drives tracking control system. Hydraulic drives and the necessary tracking angle algorithm have been designed and developed to perform the technical tasks. A PLC unit was employed to control and monitor the mechanical movement of the PTC and to collect and store data related to the tracking angle of PTC. It is found that the tracking error of the system is less than 0.6°. Field experience shows that tracking algorithm act stable and reliable and suit for PTCs.

  20. A Tracking Sun Photometer Without Moving Parts

    Science.gov (United States)

    Strawa, Anthony W.

    2012-01-01

    the detector array. As the Sun traverses a path in the sky over some time interval, the track of the Sun can be traced on the detector array. A suitably modified Sun photometer might be used to study the dynamics of an environment on another planet or satellite with an atmosphere.

  1. The Design of Sun-track System Based on PLC Control Technology%基于PLC控制的太阳能追光系统设计

    Institute of Scientific and Technical Information of China (English)

    缪德俊; 戴亦宗

    2012-01-01

    本系统利用安装在太阳能电池组件的不同方位光敏传感器检测太阳与电池组件相对位置,检测结果传输给PLC,PLC通过变频器、伺服放大器分别驱动三相低速同步电机和伺服电机,实现水平角和俯仰角两轴控制。实验结果表明,该装置工作稳定,实时性好。%This system can check the real time position of the sun with a sun tracing sensor on the solar cell components and transmit the signal to the PLC.PLC can drive the three phase synchronous motor and servo motor through the frequency converter and servo amplifier to control the horizontal angle and pitching angle.The result of the experiment proves that it can work steadily and it can track the sun correctly.

  2. Dual Axis Light Sensor for Tracking Sun

    Science.gov (United States)

    Shibata, Miki; Tambo, Toyokazu

    We have developed convenient light sensors to control a platform of solar cell panel. Dual axis light sensor in the present paper has structure of 5 PD (photodiode) light sensor which is composed of 5 photodiodes attached on a frustum of pyramid(1). Light source can be captured in front of the sensor by rotating the X and Y axis as decreasing the output deviation between two pairs of outside photodiodes. We here report the mechanism of sun tacking using the dual axis 5 PD light sensor and the fundamental results performed in the dark room.

  3. 槽式太阳能跟踪控制系统的研制及应用%Development and application of sun-tracking control system for parabolic trough solar collector

    Institute of Scientific and Technical Information of China (English)

    王金平; 王军; 冯炜; 王登文; 张耀明

    2015-01-01

    Concentrating Solar Power (CSP) systems use lenses or mirrors and tracking systems to focus a large area of sunlight into a small beam. Heat transfer fluid is heated by sun rays through the solar concentrator, then used as a heat source for a conventional power plant. A wide range of concentrating technologies has existed; the most developed are parabolic trough collector (PTC), linear fresnel reflector system (LF), power tower, and dish/engine system (DE). Parabolic trough collector is considered as one of the most mature applications of solar energy in these four technologies, which makes it worth developing. Sun-tracking system plays an important role in the development of solar energy applications, especially for the high solar concentration systems that directly convert the solar energy into thermal or electrical energy. High accuracy of sun-tracking is required to ensure that the solar collector is capable of harnessing the maximum solar energy throughout the day. Compared to fixed systems, power output of single-axis and dual-axis tracking systems can increase by 25% and 41% respectively under the same condition. It is clear that an accurate sun-tracking control system can make solar collectors receive more solar radiation energy to improve the solar energy utilization. A good sun-tracking system must be reliable and able to track the sun at the right angle even in the periods of cloud cover. Although the tracking system is more complex and costs higher than the fixed system, increasing the annual output power can reduce cost effectively. As for photoelectric tracking mode, a sun position sensor is used to provide feedback signals to judge where the sun is, but they don’t work on cloudy days because of the lower sensitivity. The stability of the solar tracking system is a key factor to obtain the maximum sunlight from parabolic trough collector. In order to improve tracking stability and accuracy of the parabolic trough collector sun-tracking control

  4. Mechanical Sun-Tracking Technique Implemented for Maximum ...

    African Journals Online (AJOL)

    The solar panel is allowed to move from east to west and back forth with a maximum allowable angle of 180o. Its movement is in only one axis. The prototype built carries the panel from eastward to westward tracking the sun movement from ...

  5. Research and application of devices for synchronously tracking the sun

    Energy Technology Data Exchange (ETDEWEB)

    Wei, Ming; Sun, Youhong; Wang, Qinghua; Wu, Xiaohan [Jilin Univ. Changchun (China). College of Construction Engineering

    2008-07-01

    This paper introduces a concept of apparent motion orbit of the sun, and put forward the theory of synchronous (linear) tracking the sun. Using solarium mechanism to trail the running path of solar hour angel, and using modified sine function framework to trace solar apparent declination path, and then connect these two mechanisms with linear transmission chain. More than 45%{proportional_to}122% electricity can be output by the synchronous tracking photovoltaic (PV) devices compare with those fixed PV ones with the same area between the spring equinox to the summer solstice. The 17m{sup 2} heat collector of synchronous tracking, its static wind-driven power consumption is less than 3.5W (0.2W/m{sup 2}), and the gale consumption is less than 7W(0.34W/m{sup 2}). The apparatus can be utilized widely in solar power, heating, lighting systems and other solar energy utilization. (orig.)

  6. General formula for on-axis sun-tracking system and its application in improving tracking accuracy of solar collector

    Energy Technology Data Exchange (ETDEWEB)

    Chong, K.K.; Wong, C.W. [Faculty of Engineering and Science, Universiti Tunku Abdul Rahman, Off Jalan Genting Kelang, Setapak, 53300 Kuala Lumpur (Malaysia)

    2009-03-15

    Azimuth-elevation and tilt-roll tracking mechanism are among the most commonly used sun-tracking methods for aiming the solar collector towards the sun at all times. It has been many decades that each of these two sun-tracking methods has its own specific sun-tracking formula and they are not interrelated. In this paper, the most general form of sun-tracking formula that embraces all the possible on-axis tracking methods is presented. The general sun-tracking formula not only can provide a general mathematical solution, but more significantly it can improve the sun-tracking accuracy by tackling the installation error of the solar collector. (author)

  7. Design and Manufacturing of a High-Precision Sun Tracking System Based on Image Processing

    Directory of Open Access Journals (Sweden)

    Kianoosh Azizi

    2013-01-01

    Full Text Available Concentration solar arrays require greater solar tracking precision than conventional photovoltaic arrays. This paper presents a high precision low cost dual axis sun tracking system based on image processing for concentration photovoltaic applications. An imaging device is designed according to the principle of pinhole imaging, making sun rays to be received on a screen through pinhole and to be a sun spot. The location of the spot is used to adjust the orientation of the solar panel. A fuzzy logic controller is developed to achieve this goal. A prototype was built, and experimental results have proven the good performance of the proposed system and low error of tracking. The operation of this system is independent of geographical location, initial calibration, and periodical regulations.

  8. An automated method for the evaluation of the pointing accuracy of Sun-tracking devices

    Science.gov (United States)

    Baumgartner, Dietmar J.; Pötzi, Werner; Freislich, Heinrich; Strutzmann, Heinz; Veronig, Astrid M.; Rieder, Harald E.

    2017-03-01

    The accuracy of solar radiation measurements, for direct (DIR) and diffuse (DIF) radiation, depends significantly on the precision of the operational Sun-tracking device. Thus, rigid targets for instrument performance and operation have been specified for international monitoring networks, e.g., the Baseline Surface Radiation Network (BSRN) operating under the auspices of the World Climate Research Program (WCRP). Sun-tracking devices that fulfill these accuracy requirements are available from various instrument manufacturers; however, none of the commercially available systems comprise an automatic accuracy control system allowing platform operators to independently validate the pointing accuracy of Sun-tracking sensors during operation. Here we present KSO-STREAMS (KSO-SunTRackEr Accuracy Monitoring System), a fully automated, system-independent, and cost-effective system for evaluating the pointing accuracy of Sun-tracking devices. We detail the monitoring system setup, its design and specifications, and the results from its application to the Sun-tracking system operated at the Kanzelhöhe Observatory (KSO) Austrian radiation monitoring network (ARAD) site. The results from an evaluation campaign from March to June 2015 show that the tracking accuracy of the device operated at KSO lies within BSRN specifications (i.e., 0.1° tracking accuracy) for the vast majority of observations (99.8 %). The evaluation of manufacturer-specified active-tracking accuracies (0.02°), during periods with direct solar radiation exceeding 300 W m-2, shows that these are satisfied in 72.9 % of observations. Tracking accuracies are highest during clear-sky conditions and on days where prevailing clear-sky conditions are interrupted by frontal movement; in these cases, we obtain the complete fulfillment of BSRN requirements and 76.4 % of observations within manufacturer-specified active-tracking accuracies. Limitations to tracking surveillance arise during overcast conditions and

  9. Development of a microprocessor-based Sun-tracking system for solar collectors

    Science.gov (United States)

    Kohler, S. M.; Wilcoxen, J. L.

    1980-04-01

    The development of a prototype Sun-tracking system and the tests performed on it on an east-west trough solar collector array are described. The system includes a controller built around an RCA1802 microprocessor, a digital shaft encoder, and a heat flux sensor. The heat flux sensor consists of a fine resistance wire wrapped around the receiver tube. The wire is used to correct errors in calculated tracking angles arising from reflector imperfections and misalignments.

  10. Development of a microprocessor-based sun-tracking system for solar collectors

    Energy Technology Data Exchange (ETDEWEB)

    Kohler, S.M.; Wilcoxen, J.L.

    1980-04-01

    The development of a prototype sun-tracking system and the tests performed on it on an east-west trough solar collector array are described. The system includes a controller built around an RCA1802 microprocessor (..mu..P), a digital shaft encoder, and a heat flux sensor. The heat flux sensor consists of a fine resistance wire wrapped around the receiver tube. The wire is used to correct errors in calculated tracking angles arising from reflector imperfections and misalignments.

  11. Sun Safe Mode Controller Design for LADEE

    Science.gov (United States)

    Fusco, Jesse C.; Swei, Sean S. M.; Nakamura, Robert H.

    2015-01-01

    This paper presents the development of sun safe controllers which are designed to keep the spacecraft power positive and thermally balanced in the event an anomaly is detected. Employed by NASA's Lunar Atmosphere and Dust Environment Explorer (LADEE), the controllers utilize the measured sun vector and the spacecraft body rates for feedback control. To improve the accuracy of sun vector estimation, the least square minimization approach is applied to process the sensor data, which is proven to be effective and accurate. To validate the controllers, the LADEE spacecraft model engaging the sun safe mode was first simulated and then compared with the actual LADEE orbital fight data. The results demonstrated the applicability of the proposed sun safe controllers.

  12. Development of algorithm for single axis sun tracking system

    Science.gov (United States)

    Yi, Lim Zi; Singh, Balbir Singh Mahinder; Ching, Dennis Ling Chuan; Jin, Calvin Low Eu

    2016-11-01

    The output power from a solar panel depends on the amount of sunlight that is intercepted by the photovoltaic (PV) solar panel. The value of solar irradiance varies due to the change of position of sun and the local meteorological conditions. This causes the output power of a PV based solar electricity generating system (SEGS) to fluctuate as well. In this paper, the focus is on the integration of solar tracking system with performance analyzer system through the development of an algorithm for optimizing the performance of SEGS. The proposed algorithm displays real-time processed data that would enable users to understand the trend of the SEGS output for maintenance prediction and optimization purposes.

  13. Research on Sun-tracking Control System in Solar Photovoltaic Power and Its Design%太阳能光伏发电中跟踪控制系统的研究与设计

    Institute of Scientific and Technical Information of China (English)

    丁婷婷; 祝雪妹

    2012-01-01

    The solar energy is utilized for protecting the environment of the earth. Photovoltaic power is one way of solar power utilization. It is very important to further improve the efficiency of its device. This is an important question which has need to be solved at present. Through researching on its tracking control system which is widely used, the feed-forward and closed-loop control tracking scheme is proposed to improve the tracking efficiency of solar photovoltaic panel. The solar photovoltaic panel rotation angle for the feed-forward track is obtained according to the trajectory of the sun. The photoelectric sensor is used to detect the photoelectric signal for the closed-loop control of solar photovoltaic panel, so that the errors of the tracking devices of solar photovoltaic panel are o-vercome during the installing, production and processing and the tracking control accuracy is improved greatly.%太阳能的利用有利于世界的环境保护,光伏发电作为太阳能发电的方式之一,无论从科技应用还是从商业开发的角度出发,如何更进一步地提高太阳能光伏发电装置的效率,都是目前有待解决的重要问题.针对目前应用广泛的太阳能光伏发电跟踪控制系统进行了研究,为了提高太阳能光伏板的跟踪效率,提出了前馈加闭环的跟踪控制方案.根据太阳的运动轨迹计算出太阳能光伏板理论上需转动的角度,实现前馈上的跟踪控制;采用光电传感器,将检测到的光电信号作为反馈,实现光伏板的闭环跟踪控制,克服了太阳能光伏发电跟踪控制系统在安装、生产、加工过程中存在的误差,提高了跟踪控制的精度.

  14. Two Axes Sun Tracking System for Heliostat: Case Study in Algeria

    Directory of Open Access Journals (Sweden)

    Mihoub Sofiane

    2016-03-01

    Full Text Available In this paper, using Proteus software, sun tracking system with 2 axes has developped to site of GHARDAIA, in the south of ALGERIA.O2 DC motors have used to move heliostat in N–S and E–W axis polar, in order to tracking the sun path.the distinction between day and night has provided by light dependent resistor (LDR.An algorithm of two axes sun tracking system hab developed and simulated under Proteus software, after DC motor’s parameters have verified and simulated under MATLAB software. The results show that: in the first, the development of the heliostat control requires the knowledge of the position of each heliostat relative to the tower to ensure the proper operation of the motors, and the uniformity of the reflected beam to the target.Then the choice of the drive motors is based on the useful power, including the weight of the heliostat, and all efforts affects on operation of motors in different seasons of the year, like the wind.And The position of the heliostat depends of chopper duty cycle.Finally,Conducting a power tower with mobile heliostats requires a techno-economic study on all components (heliostats, tower... of the plant, for example weather two motors for each heliostat field.

  15. Two Axes Sun Tracking System for Heliostat: Case Study in Algeria

    OpenAIRE

    Mihoub Sofiane; Ali Chermitti

    2016-01-01

    In this paper, using Proteus software, sun tracking system with 2 axes has developped to site of GHARDAIA, in the south of ALGERIA.O2 DC motors have used to move heliostat in N–S and E–W axis polar, in order to tracking the sun path.the distinction between day and night has provided by light dependent resistor (LDR).An algorithm of two axes sun tracking system hab developed and simulated under Proteus software, after DC motor’s parameters have verified and simulated under MATLAB software. The...

  16. Analysis of the Sun Tracking Systems to Optimize the Efficiency of Solar Panels

    Directory of Open Access Journals (Sweden)

    Ngo Xuan Cuong

    2016-12-01

    Full Text Available One of the ways to improve the efficiency of solar cells and reduce the price of solar electricity is the use of the tracking system of the sun. Daily and seasonal movement of the Earth affects the intensity of the radiation on the solar panels. The tracking system is the sun moves the solar panels to compensate for these movements, keeping the best orientation to the sun. For small solar panels it is not recommended to use the tracking system because of the high energy losses in the drive. It was found that the power consumption of the servo system is a few % of the increased energy. This article provides a classification system for tracking the sun, considered and their pluses and minuses.

  17. Comparison Study of Two Different Sun-Tracking Methods in Optical Efficiency of Heliostat Field

    OpenAIRE

    K.-K. Chong; Tan, M.H.

    2012-01-01

    There are two sun-tracking methods widely used for the heliostat, which are conventional Azimuth-Elevation and revolutionary Spinning-Elevation methods. Following the previous study to compare the range of motion, a comparison study in optical efficiency of heliostat field for the two methods is further explored in this paper. A special algorithm using ray-tracing technique has also been developed to simulate the optical efficiency of heliostat field for both sun-tracking methods in different...

  18. Design, Development and Testing of a PC Based One Axis Sun Tracking System for Maximum Efficiency

    Directory of Open Access Journals (Sweden)

    Sonu AGARWAL

    2011-08-01

    Full Text Available The solar energy is a clean source of energy and the photo-voltaic (PV solar panel converts the solar radiation into voltage. The PV solar panel produces the maximum power when the incident angle of sunlight is 90°. In the present paper a PC based one axis sun tracking system has been described to keep the PV solar panel perpendicular to the incident sunlight and thus to have maximum solar power utilization. A computer controlled stepper motor has been used in the tracking system to provide motion to the photovoltaic panel. LDR has been used as photo sensor to sense the incident solar radiation. The implementation of the system has been realized by designing optical to electrical signal conversion circuit, analog to digital conversion circuit, motor driving circuit and parallel port interfacing with PC. Experimental results are also included in order to validate the system performance.

  19. Following the sun: a mathematical analysis of the tracks of clock-shifted homing pigeons.

    Science.gov (United States)

    Schiffner, Ingo; Siegmund, Bettina; Wiltschko, Roswitha

    2014-08-01

    We analysed the tracks of clock-shifted pigeons from six releases to determine how they cope with the conflict between their sun compass and other navigational cues. Time-lag embedding was used to calculate the short-term correlation dimension, a parameter that reflects the complexity of the navigational system, and with it, the number of factors involved. Initially, while pigeons were still at the release site, the short-term correlation dimension was low; it increased as the birds left the site, indicating that the birds were now actively navigating. Clock-shifted pigeons showed more scatter than the control birds, and their short-term correlation dimension became significantly smaller than that of the controls, remaining lower until the experimental birds reached their loft. This difference was small, but consistent, and suggests a different rating and ranking of the navigational cues. Clock-shifted pigeons do not seem to simply ignore the information from their manipulated sun compass altogether, but appear to merely downgrade it in favour of other cues, like their magnetic compass. This is supported by the observation that the final part of the tracks still showed a small deviation in the expected direction, indicating an effect of clock-shifting until the end of the homing flight.

  20. The shrinking Sun: a systematic error in local correlation tracking of solar granulation

    CERN Document Server

    Löptien, B; Duvall, T L; Gizon, L; Schou, J

    2016-01-01

    Context. Local correlation tracking of granulation (LCT) is an important method for measuring horizontal flows in the photosphere. This method exhibits a systematic error that looks like a flow converging towards disk center, also known as the shrinking-Sun effect. Aims. We aim at studying the nature of the shrinking-Sun effect for continuum intensity data and at deriving a simple model that can explain its origin. Methods. We derived LCT flow maps by running the local correlation tracking code FLCT on tracked and remapped continuum intensity maps provided by the Helioseismic and Magnetic Imager (HMI) onboard the Solar Dynamics Observatory. We also computed flow maps from synthetic continuum images generated from STAGGER code simulations of solar surface convection. We investigated the origin of the shrinking-Sun effect by generating an average granule from synthetic data from the simulations. Results. The LCT flow maps derived from HMI and from the simulations exhibit a shrinking-Sun effect of comparable mag...

  1. Performance of 3-Sun Mirror Modules on Sun Tracking Carousels on Flat Roof Buildings

    Energy Technology Data Exchange (ETDEWEB)

    Fraas, Dr. Lewis [JX Crystals, Inc.; Avery, James E. [JX Crystals, Inc.; Minkin, Leonid M [ORNL; Maxey, L Curt [ORNL; Gehl, Anthony C [ORNL; Hurt, Rick A [ORNL; Boehm, Robert F [ORNL

    2008-01-01

    Commercial buildings represent a near term market for cost competitive solar electric power provided installation costs and solar photovoltaic module costs can be reduced. JX Crystals has developed a carousel sun tracker that is prefabricated and can easily be deployed on building flat roof tops without roof penetration. JX Crystals is also developing 3-sun PV mirror modules where less expensive mirrors are substituted for two-thirds of the expensive single crystal silicon solar cell surface area. Carousels each with four 3-sun modules have been set up at two sites, specifically at Oak Ridge National Lab and at the University of Nevada in Las Vegas. The test results for these systems are presented.

  2. Performance of 3-sun mirror modules on sun tracking carousels on flat roof buildings

    Science.gov (United States)

    Fraas, Lewis; Avery, James; Minkin, Leonid; Maxey, Curt; Gehl, Tony; Hurt, Rick; Boehm, Robert

    2008-08-01

    Commercial buildings represent a near term market for cost competitive solar electric power provided installation costs and solar photovoltaic module costs can be reduced. JX Crystals has developed a carousel sun tracker that is prefabricated and can easily be deployed on building flat roof tops without roof penetration. JX Crystals is also developing 3-sun PV mirror modules where less expensive mirrors are substituted for two-thirds of the expensive single crystal silicon solar cell surface area. Carousels each with four 3-sun modules have been set up at two sites, specifically at Oak Ridge National Lab and at the University of Nevada in Las Vegas. The test results for these systems are presented.

  3. Comparison Study of Two Different Sun-Tracking Methods in Optical Efficiency of Heliostat Field

    Directory of Open Access Journals (Sweden)

    K.-K. Chong

    2012-01-01

    Full Text Available There are two sun-tracking methods widely used for the heliostat, which are conventional Azimuth-Elevation and revolutionary Spinning-Elevation methods. Following the previous study to compare the range of motion, a comparison study in optical efficiency of heliostat field for the two methods is further explored in this paper. A special algorithm using ray-tracing technique has also been developed to simulate the optical efficiency of heliostat field for both sun-tracking methods in different latitudes. With the new algorithm, comprehensive analysis to compare the optical efficiency of individual heliostat and the overall heliostat field for the two sun-tracking methods has been carried out.

  4. Spectrometer for Sky-Scanning Sun-Tracking Atmospheric Research (4STAR: Instrument Technology

    Directory of Open Access Journals (Sweden)

    Yohei Shinozuka

    2013-08-01

    Full Text Available The Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research (4STAR combines airborne sun tracking and sky scanning with diffraction spectroscopy to improve knowledge of atmospheric constituents and their links to air-pollution/climate. Direct beam hyper-spectral measurement of optical depth improves retrievals of gas constituents and determination of aerosol properties. Sky scanning enhances retrievals of aerosol type and size distribution. 4STAR measurements will tighten the closure between satellite and ground-based measurements. 4STAR incorporates a modular sun-tracking/ sky-scanning optical head with fiber optic signal transmission to rack mounted spectrometers, permitting miniaturization of the external optical head, and future detector evolution. Technical challenges include compact optical collector design, radiometric dynamic range and stability, and broad spectral coverage. Test results establishing the performance of the instrument against the full range of operational requirements are presented, along with calibration, engineering flight test, and scientific field campaign data and results.

  5. Sun

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    @@ Sun Microsystems, Inc. is committed to open standards,a standardization system, and sharing within the information tech nology field, focusing not only on technical innovation, but also on new ideas, practices and future development.

  6. A generic sun-tracking algorithm for on-axis solar collector in mobile platforms

    Science.gov (United States)

    Lai, An-Chow; Chong, Kok-Keong; Lim, Boon-Han; Ho, Ming-Cheng; Yap, See-Hao; Heng, Chun-Kit; Lee, Jer-Vui; King, Yeong-Jin

    2015-04-01

    This paper proposes a novel dynamic sun-tracking algorithm which allows accurate tracking of the sun for both non-concentrated and concentrated photovoltaic systems located on mobile platforms to maximize solar energy extraction. The proposed algorithm takes not only the date, time, and geographical information, but also the dynamic changes of coordinates of the mobile platforms into account to calculate the sun position angle relative to ideal azimuth-elevation axes in real time using general sun-tracking formulas derived by Chong and Wong. The algorithm acquires data from open-loop sensors, i.e. global position system (GPS) and digital compass, which are readily available in many off-the-shelf portable gadgets, such as smart phone, to instantly capture the dynamic changes of coordinates of mobile platforms. Our experiments found that a highly accurate GPS is not necessary as the coordinate changes of practical mobile platforms are not fast enough to produce significant differences in the calculation of the incident angle. On the contrary, it is critical to accurately identify the quadrant and angle where the mobile platforms are moving toward in real time, which can be resolved by using digital compass. In our implementation, a noise filtering mechanism is found necessary to remove unexpected spikes in the readings of the digital compass to ensure stability in motor actuations and effectiveness in continuous tracking. Filtering mechanisms being studied include simple moving average and linear regression; the results showed that a compound function of simple moving average and linear regression produces a better outcome. Meanwhile, we found that a sampling interval is useful to avoid excessive motor actuations and power consumption while not sacrificing the accuracy of sun-tracking.

  7. Seguidor Solar de Dos Ejes para un Horno Solar Two-Axis Sun Tracking System for a Solar Furnace

    Directory of Open Access Journals (Sweden)

    Gabriel Villeda

    2011-01-01

    Full Text Available Se presenta el diseño y fabricación de un seguidor solar de dos ejes (rotación-elevación, el cual controla un helióstato de un horno solar para la cocción de tabiques de arcilla. El sistema trabaja con motores controlados desde una computadora personal. El algoritmo para el seguidor solar se desarrolló en un lenguaje de programación visual, calcula los ángulos de seguimiento primario y secundario del helióstato y los despliega en una pantalla. El microcontrolador está programado para controlar el funcionamiento de los motores a pasos, los cuales mueven el helióstato del horno solar. El seguimiento primario y secundario es el mismo para los equinoccios, mientras que para los solsticios son diferentes debido a que durante el verano en el hemisferio norte existe mayor altura solar que en invierno. El seguidor solar permite una captación más eficiente de la radiación solar debido a que sigue minuto a minuto el movimiento aparente del Sol.The design and manufacture of a two-axis sun tracking system (rotation-elevation, which controls a heliostat of a solar furnace for clay brick firing is presented. The system works with motors controlled through a personal computen The algorithm for the sun tracking system was developed in a visual programming language, calculates the primary and secondary tracking angles of the heliostat and shows them in a screen. The microcontroller is programmed to control the step driver engines, which move the heliostat of the solar furnace. The primary and secondary tracking is the same for the equinoxes, whereas for the solstices are different because the solar altitude is greater in summer than in winter in the northern hemisphere. The sun tracking system permits a more efficient capture of the solar radiation since it continuously follows the apparent movement of the Sun.

  8. Systems and methods for concentrating solar energy without tracking the sun

    OpenAIRE

    Kornfield, Julia A.; Flagan, Richard C.

    2014-01-01

    Systems and methods for concentrating solar energy without tracking the sun are provided. In one embodiment, the invention relates to a solar collector assembly for collecting and concentrating light for solar cell assemblies, the collector assembly including an array of solar collectors, each including a funnel shaped collector including a side wall defining a tapered opening having a base aperture and an upper aperture, the side wall including an outer surface, and a solar cell assembly pos...

  9. Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research (4STAR) Instrument Improvements

    Science.gov (United States)

    Dunagan, Stephen E.; Redemann, Jens; Chang, Cecilia; Dahlgren, Robert; Fahey, Lauren; Flynn, Connor; Johnson, Roy; Kacenelenbogen, Meloe; Leblanc, Samuel; Liss, Jordan; text-decoration: none; " href="javascript:void(0); " onClick="displayelement('author_20170005591'); toggleEditAbsImage('author_20170005591_show'); toggleEditAbsImage('author_20170005591_hide'); "> hide

    2017-01-01

    The Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research (4STAR) combines airborne sun tracking and sky scanning with grating spectroscopy to improve knowledge of atmospheric constituents and their links to air-pollution and climate. Hyper-spectral measurements of direct-beam solar irradiance provide retrievals of gas constituents, aerosol optical depth, and aerosol and thin cloud optical properties. Sky radiance measurements in the principal and almucantar planes enhance retrievals of aerosol absorption, aerosol type, and size mode distribution. Zenith radiance measurements are used to retrieve cloud properties and phase, which in turn are used to quantify the radiative transfer below cloud layers. These airborne measurements tighten the closure between satellite and ground-based measurements. In contrast to the Ames Airborne Tracking Sunphotometer (AATS-14) predecessor instrument, new technologies for each subsystem have been incorporated into 4STAR. In particular, 4STAR utilizes a modular sun-trackingsky-scanning optical head with fiber optic signal transmission to rack mounted spectrometers, permitting miniaturization of the external optical head, and spectrometerdetector configurations that may be tailored for specific scientific objectives. This paper discusses technical challenges relating to compact optical collector design, radiometric dynamic range and stability, and broad spectral coverage at high resolution. Test results benchmarking the performance of the instrument against the AATS-14 standard and emerging science requirements are presented.

  10. 槽式太阳能聚光器太阳跟踪液压驱动系统设计%The Design of Hydraulic Drive Control System For Parabolic Concentrator Sun-tracking Mechanism

    Institute of Scientific and Technical Information of China (English)

    谢超; 罗馨茹; 俞竹青

    2012-01-01

    槽式太阳能热发电系统中,其聚光器太阳跟踪性能是太阳能采集率的重要影响因素.设计了一套槽式太阳能聚光器太阳跟踪机构专用的中高压液压驱动控制系统,并系统采用了比例溢流阀和比例流量阀,因此具有驱动力矩大、启动平稳、跟踪精度高的特点.实验证明了其设计的正确性和可靠性.%In solar parabolic trough thermal power (SPTTP) system, the parabolic concentrator sun— tracking performance has significant influence on solar collection rate. A set of special —purpose hydraulic drive control system is developed for sun—tracking mechanism of Parabolic Concentrator. It has the features of great driving force, stable starting and accurate positioning. Testing and the actual use have proved the correctness, feasibility and reliability of proposed design.

  11. 万向节式太阳跟踪方法及跟踪装置%Gimbal sun-tracking method and tracking device

    Institute of Scientific and Technical Information of China (English)

    左云波; 徐小力; 白廷柱

    2011-01-01

    为了提高光伏发电系统的太阳方位跟踪精度,降低太阳方位跟踪装置的制造成本,提出了一种新的太阳跟踪方法及跟踪装置.该方法通过将太阳方位角及高度角的参数进行换算,得到与之对应的两个驱动转角参数,根据这新的参数驱动太阳能电池板进行万向节式的运动以跟踪太阳.新设计的跟踪装置包括太阳方位监测模块、参数计算模块、驱动装置、自方位误差测定模块以及反馈控制模块,能及时采集太阳方位参数进行换算,并且能够根据太阳能电池板方位误差修正实时联动的频率与步幅.新型太阳方位跟踪装置跟踪精度高,跟踪时间间隔小,结构简单且造价低.%In order to improve sun tracking precision of photovoltaic generating system and reduce the cost of sun tracking device,a new sun tracking method and device are presented,which parameters including sun azimuth angle and sun height angle are converted to new parameters accordingly. These new parameters are used to drive solar battery units to track sun like gimbal rotating.The new tracking device consists of sun orientation monitoring module parameter computation module,driving device, error self-detecting module and feedback module,which can collect the sun orientation information,convert the parameters in time and adjust the driving frequency and steps in time.The new sun tracking device can track sun accurately with short time interval in tracking with simplified structure and less cost.

  12. Three-degree-of-freedom parallel manipulator to track the sun for concentrated solar power systems

    Science.gov (United States)

    Ashith Shyam, R. B.; Ghosal, A.

    2015-07-01

    In concentrated solar power(CSP) generating stations, incident solar energy is reflected from a large number of mirrors or heliostats to a faraway receiver. In typical CSP installations, the mirror needs to be moved about two axes independently using two actuators in series with the mirror effectively mounted at a single point. A three degree-of-freedom parallel manipulator, namely the 3-RPS parallel manipulator, is proposed to track the sun. The proposed 3-RPS parallel manipulator supports the load of the mirror, structure and wind loading at three points resulting in less deflection, and thus a much larger mirror can be moved with the required tracking accuracy and without increasing the weight of the support structure. The kinematics equations to determine motion of the actuated prismatic joints in the 3-RPS parallel manipulator such that the sun's rays are reflected on to a stationary receiver are developed. Using finite element analysis, it is shown that for same sized mirror, wind loading and maximum deflection requirement, the weight of the support structure is between 15% and 60% less with the 3-RPS parallel manipulator when compared to azimuth-elevation or the target-aligned configurations.

  13. 基于ARM嵌入式图像处理平台的太阳跟踪系统%Sun-tracking system based on ARM embedded image processing platform

    Institute of Scientific and Technical Information of China (English)

    陈丽娟; 周鑫

    2012-01-01

    基于计算机视觉原理,以ARM微控制器为核心构建嵌入式图像处理平台,实现了对太阳的实时跟踪.系统采用CMOS图像传感器采集太阳图像,通过微控制器计算太阳角度,通过串口控制转台,实现对太阳的高精度跟踪.同时,与视日运动规律相结合,保证系统的可靠性.试验表明,该系统在降低系统能耗的同时,能可靠有效地跟踪太阳运动.%Based on computer vision principle, the real-time tracking of sun was realized by taking ARM microcontroller as the core to construct the embedded image processing platform. The system collects images of sun through CMOS imaging sensor, and computes the sun angles relative to the tracking platform by a microcontroller. With the computed sun angles information, the system controls the turntable through a serial port to make the solar panel perpendicular to the sun radiations. Meanwhile, another tracking mode based on sun trajectory is integrated in the tracking strategy to insure the system reliability. The teat result indicates that the system can reduce the system energy consumption and effectively track sun.

  14. Simplification of Sun Tracking Mode to Gain High Concentration Solar Energy

    Directory of Open Access Journals (Sweden)

    Omar Aliman

    2007-01-01

    Full Text Available Power conversion from solar thermal energy to electrical energy is still very cost-intensive. Serious effort has to be given in the development of the concentrator or heliostat structure expenditure which contributing the most expensive component in a central receiver solar power plant. With current development to find alternatives and lower down the capital, a new mode of sun tracking has been developed and feasibility tested. As it applies a single stage collector replacing conventional double stages structure, the new technique has significantly benefits use in high temperature and high concentration solar energy applications. Meanwhile, the stationary or fixed target (receiver offers more convenient working environment for various applications. Large and heavy solar powered Stirling Engine could be placed at the stationary location. On the other advantage offers by the new technique, the optical alignment was reasonably easier and less time consuming.

  15. Spectrometers for Sky-Scanning, Sun-Tracking Atmospheric Research (4STAR) Upgrade to Full Sun-Sky-Cloud-Trace Gas Spectrometry Capability for Airborne Science

    Science.gov (United States)

    Dunagan, S. E.; Flynn, C. J.; Johnson, R. R.; Kacenelenbogen, M. S.; Knobelspiesse, K. D.; LeBlanc, S. E.; Livingston, J. M.; Redemann, J.; Russell, P. B.; Schmid, B.; Segal-Rosenhaimer, M.; Shinozuka, Y.

    2014-12-01

    The Spectrometers for Sky-Scanning, Sun-Tracking Atmospheric Research (4STAR) instrument has been developed at NASA Ames in collaboration with Pacific Northwest National Laboratory (PNNL) and NASA Goddard, supported substantially since 2009 by NASA's Radiation Science Program and Earth Science Technology Office. It combines grating spectrometers with fiber optic links to a tracking, scanning head to enable sun tracking, sky scanning, and zenith viewing. 4STAR builds on the long and productive heritage of the NASA Ames Airborne Tracking Sunphotometers (AATS-6 and -14), which have yielded more than 100 peer-reviewed publications and extensive archived data sets in many NASA Airborne Science campaigns from 1986 to the present. The baseline 4STAR instrument has provided extensive data supporting the TCAP (Two Column Aerosol Project, July 2012 & Feb. 2013), SEAC4RS (Studies of Emissions, Atmospheric Composition, Clouds and Climate Coupling by Regional Surveys, 2013), and ARISE (Arctic Radiation - IceBridge Sea and Ice Experiment, 2014), field campaigns.This poster presents plans and progress for an upgrade to the 4STAR instrument to achieve full science capability, including (1) direct-beam sun tracking measurements to derive aerosol optical depth spectra, (2) sky radiance measurements to retrieve aerosol absorption and type (via complex refractive index and mode-resolved size distribution), (3) cloud properties via zenith radiance, and (4) trace gas spectrometry. Technical progress in context with the governing physics is reported on several upgrades directed at improved light collection and usage, particularly as related to spectrally and radiometrically stable propagation through the collection light path. In addition, improvements to field calibration and verification, and flight operability and reliability are addressed.

  16. USING RUNNING DIFFERENCE IMAGES TO TRACK PROPER MOTIONS OF XUV CORONAL INTENSITY ON THE SUN

    Energy Technology Data Exchange (ETDEWEB)

    Sheeley, N. R. Jr.; Warren, H. P.; Lee, J., E-mail: neil.sheeley@nrl.navy.mil, E-mail: harry.warren@nrl.navy.mil [Space Science Division, Naval Research Laboratory, Washington, DC 20375-5352 (United States); Chung, S.; Katz, J.; Namkung, M

    2014-12-20

    We have developed a procedure for observing and tracking proper motions of faint XUV coronal intensity on the Sun and have applied this procedure to study the collective motions of cellular plumes and the shorter-period waves in sunspots. Our space/time maps of cellular plumes show a series of tracks with the same 5-8 minute repetition times and ∼100 km s{sup –1} sky-plane speeds found previously in active-region fans and in coronal hole plumes. By synchronizing movies and space/time maps, we find that the tracks are produced by elongated ejections from the unipolar flux concentrations at the bases of the cellular plumes and that the phases of these ejections are uncorrelated from cell to cell. Thus, the large-scale motion is not a continuous flow, but is more like a system of independent conveyor belts all moving in the same direction along the magnetic field. In contrast, the proper motions in sunspots are clearly waves resulting from periodic disturbances in the sunspot umbras. The periods are ∼2.6 minutes, but the sky-plane speeds and wavelengths depend on the heights of the waves above the sunspot. In the chromosphere, the waves decelerate from 35-45 km s{sup –1} in the umbra to 7-8 km s{sup –1} toward the outer edge of the penumbra, but in the corona, the waves accelerate to ∼60-100 km s{sup –1}. Because chromospheric and coronal tracks originate from the same space/time locations, the coronal waves must emerge from the same umbral flashes that produce the chromospheric waves.

  17. Three-degree-of-freedom Parallel Manipulator to Track the Sun for Concentrated Solar Power Systems

    Institute of Scientific and Technical Information of China (English)

    ASHITHSHYAM R B; GHOSAL A

    2015-01-01

    In concentrated solar power(CSP) generating stations, incident solar energy is reflected from a large number of mirrors or heliostats to a faraway receiver. In typical CSP installations, the mirror needs to be moved about two axes independently using two actuators in series with the mirror effectively mounted at a single point. A three degree-of-freedom parallel manipulator, namely the 3-RPS parallel manipulator, is proposed to track the sun. The proposed 3-RPS parallel manipulator supports the load of the mirror, structure and wind loading at three points resulting in less deflection, and thus a much larger mirror can be moved with the required tracking accuracy and without increasing the weight of the support structure. The kinematics equations to determine motion of the actuated prismatic joints in the 3-RPS parallel manipulator such that the sun’s rays are reflected on to a stationary receiver are developed. Using finite element analysis, it is shown that for same sized mirror, wind loading and maximum deflection requirement, the weight of the support structure is between 15% and 60% less with the 3-RPS parallel manipulator when compared to azimuth-elevation or the target-aligned configurations.

  18. Development of Solar Tracking System Using Imc-Pid Controller

    Directory of Open Access Journals (Sweden)

    Bamigboye O. Oladayo

    2016-06-01

    Full Text Available In the past, solar cells are hooked with fixed elevating angles, and it does not track the sun. Therefore the efficiency of the power generation is low. A solar panel receives the most sunlight when it is perpendicular to the sun’s rays, but the sunlight direction changes regularly with changing seasons and weather. There is therefore the need to track the solar panel to increase its efficiency. The stability and improved speed of response can only be achieved with appropriate controller to take care of external disturbances and design uncertainty associated with a conventional controller. The IMC controller would be used to allow good tracking ability and good load disturbance rejection Unconventional controller like fuzzy logic can be used to tune the PID controller andthe result compared with using a conventional controller like ZN. The internal model control based proportional integral derivative design procedure can be implemented in industrial processes using existing proportional integral derivative control equipment. Modeling of a dual axis solar tracker. An IMC-PID controller was developed for a dual axis solar tracker. The result of this work showed that the IMC-PID controller provided an efficient and commendable improvement in the relative stability, disturbance attenuation, set point tracking and an improved speed of response for the system

  19. Intelligent Photovoltaic Systems by Combining the Improved Perturbation Method of Observation and Sun Location Tracking

    Science.gov (United States)

    Wang, Yajie; Shi, Yunbo; Yu, Xiaoyu; Liu, Yongjie

    2016-01-01

    Currently, tracking in photovoltaic (PV) systems suffers from some problems such as high energy consumption, poor anti-interference performance, and large tracking errors. This paper presents a solar PV tracking system on the basis of an improved perturbation and observation method, which maximizes photoelectric conversion efficiency. According to the projection principle, we design a sensor module with a light-intensity-detection module for environmental light-intensity measurement. The effect of environmental factors on the system operation is reduced, and intelligent identification of the weather is realized. This system adopts the discrete-type tracking method to reduce power consumption. A mechanical structure with a level-pitch double-degree-of-freedom is designed, and attitude correction is performed by closed-loop control. A worm-and-gear mechanism is added, and the reliability, stability, and precision of the system are improved. Finally, the perturbation and observation method designed and improved by this study was tested by simulated experiments. The experiments verified that the photoelectric sensor resolution can reach 0.344°, the tracking error is less than 2.5°, the largest improvement in the charge efficiency can reach 44.5%, and the system steadily and reliably works. PMID:27327657

  20. Intelligent Photovoltaic Systems by Combining the Improved Perturbation Method of Observation and Sun Location Tracking.

    Directory of Open Access Journals (Sweden)

    Yajie Wang

    Full Text Available Currently, tracking in photovoltaic (PV systems suffers from some problems such as high energy consumption, poor anti-interference performance, and large tracking errors. This paper presents a solar PV tracking system on the basis of an improved perturbation and observation method, which maximizes photoelectric conversion efficiency. According to the projection principle, we design a sensor module with a light-intensity-detection module for environmental light-intensity measurement. The effect of environmental factors on the system operation is reduced, and intelligent identification of the weather is realized. This system adopts the discrete-type tracking method to reduce power consumption. A mechanical structure with a level-pitch double-degree-of-freedom is designed, and attitude correction is performed by closed-loop control. A worm-and-gear mechanism is added, and the reliability, stability, and precision of the system are improved. Finally, the perturbation and observation method designed and improved by this study was tested by simulated experiments. The experiments verified that the photoelectric sensor resolution can reach 0.344°, the tracking error is less than 2.5°, the largest improvement in the charge efficiency can reach 44.5%, and the system steadily and reliably works.

  1. Intelligent Photovoltaic Systems by Combining the Improved Perturbation Method of Observation and Sun Location Tracking.

    Science.gov (United States)

    Wang, Yajie; Shi, Yunbo; Yu, Xiaoyu; Liu, Yongjie

    2016-01-01

    Currently, tracking in photovoltaic (PV) systems suffers from some problems such as high energy consumption, poor anti-interference performance, and large tracking errors. This paper presents a solar PV tracking system on the basis of an improved perturbation and observation method, which maximizes photoelectric conversion efficiency. According to the projection principle, we design a sensor module with a light-intensity-detection module for environmental light-intensity measurement. The effect of environmental factors on the system operation is reduced, and intelligent identification of the weather is realized. This system adopts the discrete-type tracking method to reduce power consumption. A mechanical structure with a level-pitch double-degree-of-freedom is designed, and attitude correction is performed by closed-loop control. A worm-and-gear mechanism is added, and the reliability, stability, and precision of the system are improved. Finally, the perturbation and observation method designed and improved by this study was tested by simulated experiments. The experiments verified that the photoelectric sensor resolution can reach 0.344°, the tracking error is less than 2.5°, the largest improvement in the charge efficiency can reach 44.5%, and the system steadily and reliably works.

  2. Experimental measurements of a prototype high-concentration Fresnel lens and sun-tracking method for photovoltaic panel's efficiency enhancement

    Science.gov (United States)

    Rajaee, Meraj; Ghorashi, Seyed Mohamad Bagher

    2015-08-01

    Concentrator photovoltaic modules are a promising technology for highly efficient solar energy conversion. This system presents several advantages due to additional degrees of freedom that has been provided by the spectral separation such as cost and mass reduction, increase in the incident solar flux on PV cells and performances. This paper has proposed a unique photovoltaic solar cell system that consists of semi-Fresnel lens convergent structure and a novel two axis sun tracking module to enhance the efficiency of solar cell by using less cell area and energy losses. The grooves of this lens are calculated according to the refraction and convergent angles of the light easy for perpendicular incidence angle. The update time interval during tracking causes misalignment of the lens' optical axis versus the sunrays. Then an inventive sun-tracking method is introduced to adjust the module so that the incident rays are always perpendicular to the module's surface. As a result, all rays will be refracted with the predetermined angles. This way the focus area is reduced and smaller cells can be used. We also mentioned different module connections in order to provide compensation method during losses, for networks and power systems. Experimental results show that using semi-Fresnel lens, along with the sun-tracking method increases the efficiency of PV panel.

  3. Accurate tracking control in LOM application

    Institute of Scientific and Technical Information of China (English)

    2003-01-01

    The fabrication of accurate prototype from CAD model directly in short time depends on the accurate tracking control and reference trajectory planning in (Laminated Object Manufacture) LOM application. An improvement on contour accuracy is acquired by the introduction of a tracking controller and a trajectory generation policy. A model of the X-Y positioning system of LOM machine is developed as the design basis of tracking controller. The ZPETC (Zero Phase Error Tracking Controller) is used to eliminate single axis following error, thus reduce the contour error. The simulation is developed on a Maltab model based on a retrofitted LOM machine and the satisfied result is acquired.

  4. Control on Electron Beam Scanning Track

    Institute of Scientific and Technical Information of China (English)

    王学东; 姚舜

    2004-01-01

    In order to use electron beam as a movable welding heat source and whose energy distribution along its moving trace can be controlled, a method of electron beam scanning track and scanning mode control was put forward. Based on it, the electron beam scanning track and scanning mode can be edited at will according to actual requirements, and the energy input of each point of the scanning track can be controlled. In addition, the scanning frequency and points control, real time adjusting of the scanning track etc. were explained. This method can be used in electron beam brazing, surface modification, surface heat treatment etc.

  5. Lissajous Orbit Control for the Deep Space Climate Observatory Sun-Earth L1 Libration Point Mission

    Science.gov (United States)

    Roberts, Craig; Case, Sarah; Reagoso, John

    2015-01-01

    DSCOVR Lissajous Orbit sized such that orbit track never extends beyond 15 degrees from Earth-Sun line (as seen from Earth). Requiring delta-V maneuvers, control orbit to obey a Solar Exclusion Zone (SEZ) cone of half-angle 4 degrees about the Earth-Sun line. Spacecraft should never be less than 4 degrees from solar center as seen from Earth. Following Lissajous Orbit Insertion (LOI), DSCOVR should be in an opening phase that just skirts the 4-degree SEZ. Maximizes time to the point where a closing Lissajous will require avoidance maneuvers to keep it out of the SEZ. Station keeping maneuvers should take no more than 15 minutes.

  6. Formation Flying Satellite Control Around the L2 Sun-Earth Libration Point

    Science.gov (United States)

    Hamilton, Nicholas H.

    2001-12-01

    A growing interest in formation flying satellites demands development and analysis of control and estimation algorithms for station-keeping and formation maneuvering. This thesis discusses the development of a discrete linear-quadratic- regulator control algorithm for formations in the vicinity of the L2 sun-earth libration point. The development of an appropriate Kalman filter is included as well. Simulations are created for the analysis of the station-keeping and various formation maneuvers of the Stellar Imager mission. The simulations provide tracking error, estimation error, and control effort results. From the control effort, useful design parameters such as AV and propellant mass are determined. For formation maneuvering, the drone spacecraft track to within 4 meters of their desired position and within 1.3 millimeters per second of their desired zero velocity. The filter, with few exceptions, keeps the estimation errors within their three-sigma values. Without noise, the controller performs extremely well, with the drones tracking to within several micrometers. Bach drone uses around 1 to 2 grams of propellant per maneuver, depending on the circumstances.

  7. 111 sun concentrator photovoltaic module with wide acceptance angle that can efficiently operate using 30-min intermittent tracking system

    Science.gov (United States)

    Ahmad, Nawwar; Ota, Yasuyuki; Araki, Kenji; Lee, Kan-Hua; Yamaguchi, Masafumi; Nishioka, Kensuke

    2017-09-01

    In this study, we propose a new concentrator photovoltaic (CPV) system design with a large-acceptance-angle lens, which tracks the sun on the basis of a new 30-min intermittent tracking method that does not require a special high-precision CPV tracking system. This will reduce costs, because a large percentage of the cost of a typical CPV system comes from the expensive accurate tracking system. The present system had a concentration ratio of 111 and an acceptance angle of 4.5°. We conducted an experiment to evaluate the thermal and electrical performances of the system in an outdoor test site in Miyazaki, Japan. The experimental results were compared with optical, thermal, and electrical simulation results. The simulated results showed good agreement with the experimental ones.

  8. 基于STM32的太阳能跟踪系统设计%Design of Sun Auto-tracking System Based on STM32

    Institute of Scientific and Technical Information of China (English)

    姚先友; 张慧敏; 张祥丽

    2012-01-01

    Combining two motor drives with four high precision photosensitive sensors, a type of sun auto-tracking system is designed based on Cortex-M3 kernel of the microprocessor STM32. The system accurately tracks the position of the sun based on real-time,using photosensitive sensors for error correction. In order to get the maximum efficiency of solar energy,the internal superior PWM controller of STM32 is adopted to control motors. The experimental results show that the system can work steadily and reliably, with high accuracy tracking the sum basically.%基于先进Cortex-M3内核的微处理器STM32,结合双电机驱动器与高精度光敏传感器,研究并设计了一套高精度太阳能跟踪系统.该系统以实时时间为基准精确追踪太阳位置,以光敏传感器进行误差修正,利用STM32优越的PWM方式控制电机,实现太阳能接受效率的最大化.实验结果表明,系统工作稳定可靠,基本实现了对太阳的实时跟踪.

  9. Check the special moves Halftone a central sun sunspot different angles using local correlation tracking

    Directory of Open Access Journals (Sweden)

    Monireh Askarikhah

    2016-03-01

    Full Text Available Sunspots, solar magnetic field effect on a large scale are outstanding. In this research field study of surface movement (special move in a Lightening Solar Shade Halftone sphere central angle of the sun in three different here. The evolution of current research and special horizontal movement in a sunspot on the basis of time-series observations imaging data in the blue spectral range with a wavelength continuum Central line spots active area of 4504 angstroms During the 3 day 10933NOAA dated 7 January (9.0 hours (UT 12:35 until (UT 12: 56, 8 January (8.0 hours (UT 06: 00 to (UT 06 21, Jan 9 (6/0 of the time (UT 05: 00 to (UT 05: 21, 2007 were obtained by using LCT (local correlation tracking has studied. Halftone stains in the three-averaged (averaged over 10 consecutive images and averaged over 20 consecutive images flow rate for each of the three categories Map angles (total 9 speed stream map obtained, as well as a lot of speed graph speed on the map, each of which is for an angle we examined. What is clear in some parts of the maps quickly climb (eruption in plasma and in some places fall (collapse plasma-level Halftone be observed. The maps quickly, the (current intensity Halftone patterns toward the inner penumbra shadow and movement patterns foreign to the outside strongly suggest Halftone That resulted in the dismissal of this shift is the dividing line that location is reached. Due to the frequency graph maps quickly we realized all three angles to this topic Slick passing moves quickly, especially given that the three angles of the half shadow has fallen. As well as speed of movement of the intensity of the Halftone patterns of the dividing line within the shadows of the reductions in external Halftone dividing line toward the photosphere increases.

  10. Evolution of the SOFIA tracking control system

    Science.gov (United States)

    Fiebig, Norbert; Jakob, Holger; Pfüller, Enrico; Röser, Hans-Peter; Wiedemann, Manuel; Wolf, Jürgen

    2014-07-01

    The airborne observatory SOFIA (Stratospheric Observatory for Infrared Astronomy) is undergoing a modernization of its tracking system. This included new, highly sensitive tracking cameras, control computers, filter wheels and other equipment, as well as a major redesign of the control software. The experiences along the migration path from an aged 19" VMbus based control system to the application of modern industrial PCs, from VxWorks real-time operating system to embedded Linux and a state of the art software architecture are presented. Further, the concept is presented to operate the new camera also as a scientific instrument, in parallel to tracking.

  11. Spectrometers for Sky-Scanning, Sun-Tracking Atmospheric Research (4STAR): Airborne Concepts and Ground Prototype Measurements

    Science.gov (United States)

    Russell, P. B.; Schmid, B.; Flynn, C.; Dunagan, S. E.; Johnson, R. R.; Redemann, J.; Livingston, J.

    2007-12-01

    A collaboration between NASA Ames Research Center and Battelle Pacific Northwest Division is exploring new instrument concepts that combine sky scanning and spectroscopy with the direct sun transmission measurement capabilities of previous instruments like the NASA Ames Airborne Tracking Sunphotometers (AATS). Additional technical goals are to reduce instrument size, weight, and power requirements while increasing autonomy, so as to permit operation on a wider range of aircraft, including unmanned aerial vehicles (UAVs). The overall science goal for the new instruments is to improve knowledge of atmospheric constituents and their links to climate using a variety of airborne measurement approaches including satellite validation. The sky scanning capability will enable retrievals of aerosol type (via complex refractive index and shape) and aerosol size distribution extending to larger sizes than attainable by direct-beam sunphotometry alone. The spectroscopic capability will improve measurements of gas constituents (e.g., H2O, O3, NO2, SO2) . Concepts explored to date for an airborne Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research (4STAR-Air) include using fiber optics to link a spectrometer inside the aircraft to optical entrance ports in a relatively small tracking/scanning head outside the aircraft. 4STAR feasibility depends on overcoming three technological hurdles: 1. Maintaining calibration to 1% stability over a period of months. 2. Demonstrating stray light rejection to permit measuring skylight within a few degrees of the sun. 3. Devising a fiber optic coupling that maintains 1% calibration stability with as many as possible of the following desirable characteristics: detachable during assembly before calibration; detachable between calibration and scientific measurements; rotatable during measurements. To investigate ways to overcome these hurdles we have developed a ground-based prototype, 4STAR-Ground. To date 4STAR-Ground has been

  12. Sun meter

    Science.gov (United States)

    Younskevicius, Robert E.

    1978-01-01

    A simple, inexpensive device for measuring the radiation energy of the sun impinging on the device. The measurement of the energy over an extended period of time is accomplished without moving parts or tracking mechanisms.

  13. Flux Tracking Control of Induction Motors

    Institute of Scientific and Technical Information of China (English)

    LanLin; XiaowuMu; ChunxiaBu

    2004-01-01

    This paper deals with flux tracking control of induction motors. Firstly,we analyze convergency of non-homogeneous linear time-varying systems and a sufficient condition is given. Finally, the flux regulator of induction motors is discussed.

  14. Small satellite attitude control for sun-oriented operations utilizing a momentum bias with magnetic actuators

    Science.gov (United States)

    Wolfe, Scott M.

    1995-03-01

    The feasibility of using a three axis control, momentum bias system with magnetic actuators for sun-oriented operations is explored. Relevant equations of motion are developed for a sun-oriented coordinate system and control laws are developed for initial spacecraft capture after launch vehicle separation; reorientation from Earth oriented to a sun oriented operations mode; sun-oriented attitude control; and momentum wheel control. Simulations demonstrating the stability and time responsiveness of the system are performed. Sensor noise input tests are performed to investigate the systems susceptibility to imperfect conditions. Cross product of inertia effects are also input to test for system instability.

  15. Adaptive tracking control of chaotic systems

    Institute of Scientific and Technical Information of China (English)

    卢钊; 卢和

    2004-01-01

    It is important to develop control techniques able to control not only known chaos but also chaotic systems with unknown parameters. This paper proposes a novel adaptive tracking control approach for identifying the unknown parameters and controlling the chaos, which is not closely related to the particular chaotic system to be controlled. The global uniform boundedness of estimated parameters and the asymptotical stability of the tracking errors are proved by Lyapunov stability theory and LaSalle-Yoshizawa theorem. The suggested method enables stabilization of chaotic motion to a steady state ad well as tracking of any desired trajectory to be achieved in a systematic way. Computer simulation on a complex chaotic system illustrtes the effectiveness of the proposed control method.

  16. Smith Predictor Based Robust Rapid Tracking Controller

    Institute of Scientific and Technical Information of China (English)

    LIU Hongbin; HU Dejin

    2006-01-01

    Precise model is hard to get in real application, a Smith predictor based robust rapid tracking controller for inaccurate model is proposed. Zero phase error feedforward controller which increases system closed-loop dynamics and disturbance observer based Smith feedback control which diminishes model hysteresis and improves stability are integrated. This method is applied in the noncircular machining with piezoelectric ceramic driver. The simulation and experiment show that the performance robustness and stability are well balanced in bandwidth about 200 Hz. The controller can decrease system hysteresis and get good tracking performance for predefined square-wave input signal.

  17. Fuzzy logic control for camera tracking system

    Science.gov (United States)

    Lea, Robert N.; Fritz, R. H.; Giarratano, J.; Jani, Yashvant

    1992-01-01

    A concept utilizing fuzzy theory has been developed for a camera tracking system to provide support for proximity operations and traffic management around the Space Station Freedom. Fuzzy sets and fuzzy logic based reasoning are used in a control system which utilizes images from a camera and generates required pan and tilt commands to track and maintain a moving target in the camera's field of view. This control system can be implemented on a fuzzy chip to provide an intelligent sensor for autonomous operations. Capabilities of the control system can be expanded to include approach, handover to other sensors, caution and warning messages.

  18. Tracked robot controllers for climbing obstacles autonomously

    Science.gov (United States)

    Vincent, Isabelle

    2009-05-01

    Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

  19. Sun-tracking optical element realized using thermally activated transparency-switching material.

    Science.gov (United States)

    Apostoleris, Harry; Stefancich, Marco; Lilliu, Samuele; Chiesa, Matteo

    2015-07-27

    We present a proof of concept demonstration of a novel optical element: a light-responsive aperture that can track a moving light beam. The element is created using a thermally-activated transparency-switching material composed of paraffin wax and polydimethylsiloxane (PDMS). Illumination of the material with a focused beam causes the formation of a localized transparency at the focal spot location, due to local heating caused by absorption of a portion of the incident light. An application is proposed in a new design for a self-tracking solar collector.

  20. The optical designing method and the concentrating performance analysis for a toroidal heliostat with spinning-elevation sun tracking

    Energy Technology Data Exchange (ETDEWEB)

    Guo, Minghuan [Himin Solar Energy Group, Dezhou (China); CAS, Inst. of Electrical Engineering, Beijing (China); Lu, Zhenwu [CAS, Changchun Inst. of Optics Fine Mechanics and Physics, Changchun (China). State Key Lab. of Applied Optics; Wang, Zhifeng [Himin Solar Energy Group, Dezhou (China)

    2008-07-01

    A practical optical designing method for and some optical simulation results of a toroidal surface heliostat with the two axis spinning-elevation sun tracking are presented in this paper, which will be used as a concentrator for a hydrogen generation system. As a prototype, this heliostat has a compound toroidal surface, which is composed of the 16 same toroidal mirror facets of 1 meter width and 1 meter height with the focal length 7.4689 meters, and the design concentration power of the heliostat is 6 kilowatts. The sampling ray-tracing method including the solar disk effect is introduced and used to analyze the optical performance of the heliostat. The optical errors of the heliostat and the attenuation of reflected solar irradiance in the air have not been taken into account yet. (orig.)

  1. Development of Intelligent Fuzzy Controller for a Two-Axis Solar Tracking System

    Directory of Open Access Journals (Sweden)

    Cong-Hui Huang

    2016-05-01

    Full Text Available This paper proposes the development of a two-axis sun tracking solar energy system using fuzzy logic as intelligent quality policy. To achieve maximum efficiency for solar panels, it is necessary to follow the sun’s path in the sky. Therefore, the architecture for the two-axis sun tracking solar energy system uses software to control the hardware. The hardware comprises (i solar cells; (ii lead-acid batteries; (iii a gear box; (iv a stepping motor; and (v a light detection circuit, while the software comprises (i a detection system; (ii a fuzzy tracking controller; and (iii a database system. A fuzzy logic controller is designed as the software architecture of the system to decide the timing for tracking the sun. The nearest position that results in receiving direct sunlight is obtained from the database. Our system is fully automatic in a changing environment and takes into account meteorological changes and the effects of the external environment arising from a malfunction. This approach reduces the number of starting motors and results in smaller energy loss in cloudy, cloud mask, or unstable weather conditions.

  2. Innovative control systems for tracked vehicle platforms

    CERN Document Server

    2014-01-01

     This book has been motivated by an urgent need for designing and implementation of innovative control algorithms and systems for tracked vehicles. Nowadays the unmanned vehicles are becoming more and more common. Therefore there is a need for innovative mechanical constructions capable of adapting to various applications regardless the ground, air or water/underwater environment. There are multiple various activities connected with tracked vehicles. They can be distributed among three main groups: design and control algorithms, sensoric and vision based in-formation, construction and testing mechanical parts of unmanned vehicles. Scientists and researchers involved in mechanics, control algorithms, image processing, computer vision, data fusion, or IC will find this book useful.

  3. An improved drone tracking control system transponder

    Science.gov (United States)

    Miller, James J.; Tannenholz, Philip H.

    A small, compact, and inexpensive method of achieving frequency stability of a solid state LO to +/- 1 MHz in the MD700C-1 drone tracking and control system C-band command and control transponder is described. The methodology for realizing improved RF rejection, local oscillator stability, automatic gain control, and power supply efficiency is discussed. A switching mode regulator and a nonsaturating power supply were designed to operate at 80 percent efficiency to reduce power consumption and heat while operating over a wide voltage range.

  4. Constrained tracking control for nonlinear systems.

    Science.gov (United States)

    Khani, Fatemeh; Haeri, Mohammad

    2017-09-01

    This paper proposes a tracking control strategy for nonlinear systems without needing a prior knowledge of the reference trajectory. The proposed method consists of a set of local controllers with appropriate overlaps in their stability regions and an on-line switching strategy which implements these controllers and uses some augmented intermediate controllers to ensure steering the system states to the desired set points without needing to redesign the controller for each value of set point changes. The proposed approach provides smooth transient responses despite switching among the local controllers. It should be mentioned that the stability regions of the proposed controllers could be estimated off-line for a range of set-point changes. The efficiencies of the proposed algorithm are illustrated via two example simulations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Control system for solar tracking based on artificial vision; Sistema de control para seguimiento solar basado en vision artificial

    Energy Technology Data Exchange (ETDEWEB)

    Pacheco Ramirez, Jesus Horacio; Anaya Perez, Maria Elena; Benitez Baltazar, Victor Hugo [Universidad de onora, Hermosillo, Sonora (Mexico)]. E-mail: jpacheco@industrial.uson.mx; meanaya@industrial.uson.mx; vbenitez@industrial.uson.mx

    2010-11-15

    This work shows how artificial vision feedback can be applied to control systems. The control is applied to a solar panel in order to track the sun position. The algorithms to calculate the position of the sun and the image processing are developed in LabView. The responses obtained from the control show that it is possible to use vision for a control scheme in closed loop. [Spanish] El presente trabajo muestra la manera en la cual un sistema de control puede ser retroalimentado mediante vision artificial. El control es aplicado en un panel solar para realizar el seguimiento del sol a lo largo del dia. Los algoritmos para calcular la posicion del sol y para el tratamiento de la imagen fueron desarrollados en LabView. Las respuestas obtenidas del control muestran que es posible utilizar vision para un esquema de control en lazo cerrado.

  6. Pneumatic motor speed control by trajectory tracking fuzzy logic controller

    Indian Academy of Sciences (India)

    Cengiz Safak; Vedat Topuz; A Fevzi Baba

    2010-02-01

    In this study, trajectory tracking fuzzy logic controller (TTFLC) is proposed for the speed control of a pneumatic motor (PM). A third order trajectory is defined to determine the trajectory function that has to be tracked by the PM speed. Genetic algorithm (GA) is used to find the TTFLC boundary values of membership functions (MF) and weights of control rules. In addition, artificial neural networks (ANN) modelled dynamic behaviour of PM is given. This ANN model is used to find the optimal TTFLC parameters by offline GA approach. The experimental results show that designed TTFLC successfully enables the PM speed track the given trajectory under various working conditions. The proposed approach is superior to PID controller. It also provides simple and easy design procedure for the PM speed control problem.

  7. Spacecraft Formation Flying near Sun-Earth L2 Lagrange Point: Trajectory Generation and Adaptive Full-State Feedback Control

    Science.gov (United States)

    Wong, Hong; Kapila, Vikram

    2004-01-01

    In this paper, we present a method for trajectory generation and adaptive full-state feedback control to facilitate spacecraft formation flying near the Sun-Earth L2 Lagrange point. Specifically, the dynamics of a spacecraft in the neighborhood of a Halo orbit reveals that there exist quasi-periodic orbits surrounding the Halo orbit. Thus, a spacecraft formation is created by placing a leader spacecraft on a desired Halo orbit and placing follower spacecraft on desired quasi-periodic orbits. To produce a formation maintenance controller, we first develop the nonlinear dynamics of a follower spacecraft relative to the leader spacecraft. We assume that the leader spacecraft is on a desired Halo orbit trajectory and the follower spacecraft is to track a desired quasi-periodic orbit surrounding the Halo orbit. Then, we design an adaptive, full-state feedback position tracking controller for the follower spacecraft providing an adaptive compensation for the unknown mass of the follower spacecraft. The proposed control law is simulated for the case of the leader and follower spacecraft pair and is shown to yield global, asymptotic convergence of the relative position tracking errors.

  8. Robust optimal sun-pointing control of a large solar power satellite

    Science.gov (United States)

    Wu, Shunan; Zhang, Kaiming; Peng, Haijun; Wu, Zhigang; Radice, Gianmarco

    2016-10-01

    The robust optimal sun-pointing control strategy for a large geostationary solar power satellite (SPS) is addressed in this paper. The SPS is considered as a huge rigid body, and the sun-pointing dynamics are firstly proposed in the state space representation. The perturbation effects caused by gravity gradient, solar radiation pressure and microwave reaction are investigated. To perform sun-pointing maneuvers, a periodically time-varying robust optimal LQR controller is designed to assess the pointing accuracy and the control inputs. It should be noted that, to reduce the pointing errors, the disturbance rejection technique is combined into the proposed LQR controller. A recursive algorithm is then proposed to solve the optimal LQR control gain. Simulation results are finally provided to illustrate the performance of the proposed closed-loop system.

  9. Tracking the Sun IX: The Installed Price of Residential and Non-Residential Photovoltaic Systems in the United States

    Energy Technology Data Exchange (ETDEWEB)

    Barbose, Galen [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States). Energy Technologies Area; Darghouth, Naïm [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States). Energy Technologies Area; Millstein, Dev [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Cates, Sarah [Exeter Associates, Columbia, MD (United States); DiSanti, Nicholas [Exeter Associates, Columbia, MD (United States); Widiss, Rebecca [Exeter Associates, Columbia, MD (United States)

    2016-08-16

    Now in its ninth edition, Lawrence Berkeley National Laboratory (LBNL)’s Tracking the Sun report series is dedicated to summarizing trends in the installed price of grid-connected solar photovoltaic (PV) systems in the United States. The present report focuses on residential and non-residential systems installed through year-end 2015, with preliminary trends for the first half of 2016. An accompanying LBNL report, Utility-Scale Solar, addresses trends in the utility-scale sector. This year’s report incorporates a number of important changes and enhancements from prior editions. Among those changes, LBNL has made available a public data file containing all non-confidential project-level data underlying the analysis in this report. Installed pricing trends presented within this report derive primarily from project-level data reported to state agencies and utilities that administer PV incentive programs, solar renewable energy credit (SREC) registration systems, or interconnection processes. Refer to the text box to the right for several key notes about these data. In total, data were collected and cleaned for more than 820,000 individual PV systems, representing 85% of U.S. residential and non-residential PV systems installed cumulatively through 2015 and 82% of systems installed in 2015. The analysis in this report is based on a subset of this sample, consisting of roughly 450,000 systems with available installed price data.

  10. Tracking the Sun VIII. The Installed Price of Residential and Non-Residential Photovoltaic Systems in the United States

    Energy Technology Data Exchange (ETDEWEB)

    Barbose, Galen L. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Darghouth, Naïm R. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Millstein, Dev [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Spears, Mike [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Wiser, Ryan H. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Buckley, Michael [Exeter Associates, Columbia, MD (United States); Widiss, Rebecca [Exeter Associates, Columbia, MD (United States); Grue, Nick [National Renewable Energy Lab. (NREL), Golden, CO (United States)

    2015-08-01

    Now in its eighth edition, Lawrence Berkeley National Laboratory (LBNL)’s Tracking the Sun report series is dedicated to summarizing trends in the installed price of grid-connected solar photovoltaic (PV) systems in the United States. The present report focuses on residential and nonresidential systems installed through year-end 2014, with preliminary trends for the first half of 2015. As noted in the text box below, this year’s report incorporates a number of important changes and enhancements. Among those changes, this year's report focuses solely on residential and nonresidential PV systems; data on utility-scale PV are reported in LBNL’s companion Utility-Scale Solar report series. Installed pricing trends presented within this report derive primarily from project-level data reported to state agencies and utilities that administer PV incentive programs, solar renewable energy credit (SREC) registration systems, or interconnection processes. In total, data were collected for roughly 400,000 individual PV systems, representing 81% of all U.S. residential and non-residential PV capacity installed through 2014 and 62% of capacity installed in 2014, though a smaller subset of this data were used in analysis.

  11. Direct heuristic dynamic programming for nonlinear tracking control with filtered tracking error.

    Science.gov (United States)

    Yang, Lei; Si, Jennie; Tsakalis, Konstantinos S; Rodriguez, Armando A

    2009-12-01

    This paper makes use of the direct heuristic dynamic programming design in a nonlinear tracking control setting with filtered tracking error. A Lyapunov stability approach is used for the stability analysis of the tracking system. It is shown that the closed-loop tracking error and the approximating neural network weight estimates retain the property of uniformly ultimate boundedness under the presence of neural network approximation error and bounded unknown disturbances under certain conditions.

  12. Solar panel sun-tracking system based on ARM%基于ARM920T的太阳能电池板自动追光系统

    Institute of Scientific and Technical Information of China (English)

    郭文川; 周超超; 刘兴林; 夏田俊

    2012-01-01

    An automatic solar panel light-tracking system based on ARM9 platform was designed to improve the efficiency of solar panels. S3C2440 was used as the controller of the system. Based on the current outputs of the 2D positional sensitive detector (PSD), the directions and angels at which the horizontal and vertical axes should rotated, respectively, were calculated. Two step motors were used to control the two-axis system to trace sun position automatically. Running test shows that the system is stable and reliable, and it has good application prospect.%为了提高太阳能电池板的工作效率,设计了一种基于ARM920T平台的太阳能电池板自动追光系统.系统以ARM920T内核S3C2440处理器为控制器,根据二维光位置敏感探测器PSD的电流输出量确定电池板绕竖直轴和水平轴转动的方向和角度,进而由2个步进电机驱动双轴跟踪系统,以达到自动追光的目的.经测试表明,该系统运行稳定、可靠,具有良好的应用前景.

  13. Best Tracking Performance under Plant Uncertainty and Control Energy Constraint

    Institute of Scientific and Technical Information of China (English)

    KONG Yi-gang; WANG Zhi-xin; WANG Jian-guo

    2007-01-01

    This paper has investigated best tracking performance for linear feedback control systems in the case that plant uncertainty and control effort need to be considered simultaneously. Firstly, an average integral square criterion of the tracking error and the plant input energy over a class of additive model errors is defined. Then, utilizing spectral factorization to minimize the performance index, we obtain an optimal controller design method, and furthermore study optimal tracking performance under plant uncertainty and control energy constraint. The results can be used to evaluate optimal average tracking performance and control energy in designing practical control systems.

  14. Ice crystal characterization in cirrus clouds: a sun-tracking camera system and automated detection algorithm for halo displays

    Science.gov (United States)

    Forster, Linda; Seefeldner, Meinhard; Wiegner, Matthias; Mayer, Bernhard

    2017-07-01

    Halo displays in the sky contain valuable information about ice crystal shape and orientation: e.g., the 22° halo is produced by randomly oriented hexagonal prisms while parhelia (sundogs) indicate oriented plates. HaloCam, a novel sun-tracking camera system for the automated observation of halo displays is presented. An initial visual evaluation of the frequency of halo displays for the ACCEPT (Analysis of the Composition of Clouds with Extended Polarization Techniques) field campaign from October to mid-November 2014 showed that sundogs were observed more often than 22° halos. Thus, the majority of halo displays was produced by oriented ice crystals. During the campaign about 27 % of the cirrus clouds produced 22° halos, sundogs or upper tangent arcs. To evaluate the HaloCam observations collected from regular measurements in Munich between January 2014 and June 2016, an automated detection algorithm for 22° halos was developed, which can be extended to other halo types as well. This algorithm detected 22° halos about 2 % of the time for this dataset. The frequency of cirrus clouds during this time period was estimated by co-located ceilometer measurements using temperature thresholds of the cloud base. About 25 % of the detected cirrus clouds occurred together with a 22° halo, which implies that these clouds contained a certain fraction of smooth, hexagonal ice crystals. HaloCam observations complemented by radiative transfer simulations and measurements of aerosol and cirrus cloud optical thickness (AOT and COT) provide a possibility to retrieve more detailed information about ice crystal roughness. This paper demonstrates the feasibility of a completely automated method to collect and evaluate a long-term database of halo observations and shows the potential to characterize ice crystal properties.

  15. Ice crystal characterization in cirrus clouds: a sun-tracking camera system and automated detection algorithm for halo displays

    Directory of Open Access Journals (Sweden)

    L. Forster

    2017-07-01

    Full Text Available Halo displays in the sky contain valuable information about ice crystal shape and orientation: e.g., the 22° halo is produced by randomly oriented hexagonal prisms while parhelia (sundogs indicate oriented plates. HaloCam, a novel sun-tracking camera system for the automated observation of halo displays is presented. An initial visual evaluation of the frequency of halo displays for the ACCEPT (Analysis of the Composition of Clouds with Extended Polarization Techniques field campaign from October to mid-November 2014 showed that sundogs were observed more often than 22° halos. Thus, the majority of halo displays was produced by oriented ice crystals. During the campaign about 27 % of the cirrus clouds produced 22° halos, sundogs or upper tangent arcs. To evaluate the HaloCam observations collected from regular measurements in Munich between January 2014 and June 2016, an automated detection algorithm for 22° halos was developed, which can be extended to other halo types as well. This algorithm detected 22° halos about 2 % of the time for this dataset. The frequency of cirrus clouds during this time period was estimated by co-located ceilometer measurements using temperature thresholds of the cloud base. About 25 % of the detected cirrus clouds occurred together with a 22° halo, which implies that these clouds contained a certain fraction of smooth, hexagonal ice crystals. HaloCam observations complemented by radiative transfer simulations and measurements of aerosol and cirrus cloud optical thickness (AOT and COT provide a possibility to retrieve more detailed information about ice crystal roughness. This paper demonstrates the feasibility of a completely automated method to collect and evaluate a long-term database of halo observations and shows the potential to characterize ice crystal properties.

  16. Implementation of the Sun Position Calculation in the PDC-1 Control Microprocessor

    Science.gov (United States)

    Stallkamp, J. A.

    1984-01-01

    The several computational approaches to providing the local azimuth and elevation angles of the Sun as a function of local time and then the utilization of the most appropriate method in the PDC-1 microprocessor are presented. The full algorithm, the FORTRAN form, is felt to be very useful in any kind or size of computer. It was used in the PDC-1 unit to generate efficient code for the microprocessor with its floating point arithmetic chip. The balance of the presentation consists of a brief discussion of the tracking requirements for PPDC-1, the planetary motion equations from the first to the final version, and the local azimuth-elevation geometry.

  17. Element Tracking Strategies for Hot Strip Laminar Cooling Control

    Institute of Scientific and Technical Information of China (English)

    HAN Bin; ZHANG Zhong-ping; LIU Xiang-hua; WANG Guo-dong

    2005-01-01

    Feedforward control is the core to control function in the cooling process of hot strip. One of the most important tasks in feedforward control is to determine the arrival time of the strip at various locations on the runout table for effective control. Based on the principles of element tracking and tracking strategies for variable rolling speed and constant rolling speed, a simple diagonal tracking method for an existing hot strip mill was proposed and tested. The test results show that the proposed strategies are effective for improving tracking control.

  18. Optimal Tracking Controller Design for a Small Scale Helicopter

    Institute of Scientific and Technical Information of China (English)

    Agus Budiyono; Singgih S. Wibowo

    2007-01-01

    A model helicopter is more difficult to control than its full scale counterpart. This is due to its greater sensitivity to control inputs and disturbances as well as higher bandwidth of dynamics. This work is focused on designing practical tracking controller for a small scale helicopter following predefined trajectories. A tracking controller based on optimal control theory is synthesized as a part of the development of an autonomous helicopter. Some issues with regards to control constraints are addressed.The weighting between state tracking performance and control power expenditure is analyzed. Overall performance of the control design is evaluated based on its time domain histories of trajectories as well as control inputs.

  19. GNSS Hardware-In-The-Loop Formation and Tracking Control

    OpenAIRE

    2016-01-01

    Formation and tracking control are critical for of today's vehicle applications in and this will be true for future vehicle technologies as well. Although the general function of these controls is for data collection and military applications, formation and tracking control may be applied to automobiles, drones, submarines, and spacecraft. The primary application here is the investigation of formation keeping and tracking solutions for realistic, real-time, and multi-vehicle simulations. This...

  20. Fuzzy Technique Tracking Control for Multiple Unmanned Ships

    OpenAIRE

    Ramzi Fraga; Liu Sheng

    2013-01-01

    A Fuzzy logic control law is presented and implemented for trajectory tracking of multiple under actuated autonomous surface vessels. In this study, an individual unmanned ship is used to be the leader that tracks the desired path; other unmanned ships are used to be the followers which track the leader only by using its position. A fuzzy controller was implemented for the ship leader position with a constant velocity; however, the ship follower needed a fuzzy controller for the position and ...

  1. Intelligent PID guidance control for AUV path tracking

    Institute of Scientific and Technical Information of China (English)

    李晔; 姜言清; 王磊峰; 曹建; 张国成

    2015-01-01

    Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as planning level during the control system using transverse deviation is came up with. Continuous tracking of path expressed by a point sequence can be realized by the law. Firstly, a path tracking control system based on rational behavior model of three layers is designed, mainly satisfying the needs of underactuated AUV. Since there is no need to perform spatially coupled maneuvers, the 3D path tracking control is decoupled into planar 2D path tracking and depth or height tracking separately. Secondly, planar path tracking controller is introduced. For the reason that more attention is paid to comparing with vertical position control, transverse deviation in analytical form is derived. According to the Lyapunov direct theory, control law is designed using discrete PID algorithm whose parameters obey adaptive fuzzy adjustment. Reference heading angle is given as an output of the guidance controller conducted by lateral deviation together with its derivative. For the purpose of improving control quality and facilitating parameter modifying, data normalize modules based on Sigmoid function are applied to input-output data manipulation. Lastly, a sequence of experiments was carried out successfully, including tests in Longfeng lake and at the Yellow sea. In most challenging sea conditions, tracking errors of straight line are below 2 m in general. The results show that AUV is able to compensate the disturbance brought by sea current. The provided test results demonstrate that the designed guidance controller guarantees stably and accurately straight route tracking. Besides, the proposed control system is accessible for continuous comb-shaped path tracking in region searching.

  2. Artificial Sun synchronous frozen orbit control scheme design based on J2 perturbation

    Institute of Scientific and Technical Information of China (English)

    Gong-Bo Wang; Yun-He Meng; Wei Zheng; Guo-Jian Tang

    2011-01-01

    Sun synchronous orbit and frozen orbit formed due to J2 perturbation have very strict constraints on orbital parameters,which have restricted the application a lot.In this paper,several control strategies were illustrated to realize Sun synchronous frozen orbit with arbitrary orbital elements using continuous low-thrust.Firstly,according to mean element method,the averaged rate of change of the orbital elements,originating from disturbing constant accelerations over one orbital period,was derived from Gauss' variation of parameters equations.Then,we proposed that binormal acceleration could be used to realize Sun synchronous orbit,and radial or transverse acceleration could be adopted to eliminate the rotation of the argument of the perigee.Finally,amending methods on the control strategies mentioned above were presented to eliminate the residual secular growth.Simulation results showed that the control strategies illustrated in this paper could realize Sun synchronous frozen orbit with arbitrary orbital elements,and can save much more energy than the schemes presented in previous studies,and have no side effect on other orbital parameters' secular motion.

  3. Fuzzy Technique Tracking Control for Multiple Unmanned Ships

    Directory of Open Access Journals (Sweden)

    Ramzi Fraga

    2013-01-01

    Full Text Available A Fuzzy logic control law is presented and implemented for trajectory tracking of multiple under actuated autonomous surface vessels. In this study, an individual unmanned ship is used to be the leader that tracks the desired path; other unmanned ships are used to be the followers which track the leader only by using its position. A fuzzy controller was implemented for the ship leader position with a constant velocity; however, the ship follower needed a fuzzy controller for the position and the forward velocity. Simulation results show that the fuzzy method presents an interesting robustness against the environmental disturbances and effective tracking results.

  4. Upgrade of the NASA 4STAR (Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research) to its Full Science Capability of Sun-Sky-Cloud-Trace Gas Spectrometry in Airborne Science Deployments

    Science.gov (United States)

    Johnson, Roy R.; Russell, P.; Dunagan, S.; Redemann, J.; Shinozuka, Y.; Segal-Rosenheimer, M.; LeBlanc, S.; Flynn, C.; Schmid, B.; Livingston, J.

    2014-01-01

    The objectives of this task in the AITT (Airborne Instrument Technology Transition) Program are to (1) upgrade the NASA 4STAR (Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research) instrument to its full science capability of measuring (a) direct-beam sun transmission to derive aerosol optical depth spectra, (b) sky radiance vs scattering angle to retrieve aerosol absorption and type (via complex refractive index spectra, shape, and mode-resolved size distribution), (c) zenith radiance for cloud properties, and (d) hyperspectral signals for trace gas retrievals, and (2) demonstrate its suitability for deployment in challenging NASA airborne multiinstrument campaigns. 4STAR combines airborne sun tracking, sky scanning, and zenith pointing with diffraction spectroscopy to improve knowledge of atmospheric constituents and their links to air pollution, radiant energy budgets (hence climate), and remote measurements of Earth's surfaces. Direct beam hyperspectral measurement of optical depth improves retrievals of gas constituents and determination of aerosol properties. Sky scanning enhances retrievals of aerosol type and size distribution. 4STAR measurements are intended to tighten the closure between satellite and ground-based measurements. 4STAR incorporates a modular sun-tracking/sky-scanning optical head with fiber optic signal transmission to rack mounted spectrometers, permitting miniaturization of the external optical head, and future detector evolution. 4STAR test flights, as well as science flights in the 2012-13 TCAP (Two-Column Aerosol Project) and 2013 SEAC4RS (Studies of Emissions and Atmospheric Composition, Clouds and Climate Coupling by Regional Surveys) have demonstrated that the following are essential for 4STAR to achieve its full science potential: (1) Calibration stability for both direct-beam irradiance and sky radiance, (2) Improved light collection and usage, and (3) Improved flight operability and reliability. A particular challenge

  5. Possible conservation units of the sun bear (Helarctos malayanus) in Sarawak based on variation of mtDNA control region.

    OpenAIRE

    ONUMA, Manabu; SUZUKI, Masatsugu; Ohtaishi, Noriyuki

    2006-01-01

    The mitochondrial DNA control region of the sun bear(Helarctos malayanus) was sequenced using 21DNA samples collected from confiscated sun bears to identify conservation units, such as evolutionarily significant units and management units, in Sarawak, Borneo Island. A total of 10 haplotypes were observed, indicating the presence of at least two lineages in the sun bear population in Sarawak. Presumably, these two lineages could represent evolutionarily significant units. How...

  6. Unpower aerocraft augmented state feedback tracking guaranteed cost control

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    Aimed at designing the unpower aerocraft attitude control system in a simple and practical way,the guaranteed cost control is adopted.To eliminate the steady-error,a novel tracking control approach-augmented state feedback tracking guaranteed cost control is proposed.Firstly,the unpower aerocraft is modeled as a linear system with norm bounded parameter uncertain,then the linear matrix inequality based state feedback gnaranteed cost control law is combined with the augmented state feedback tracking control from a new point of view.The sufficient condition of the existence of the augmented state feedback tracking guaranteed cost control is derived and converted to the feasible problem of the linear matrix inequality.Finally,the proposed approach is applied to a specified unpower aerocraft.The six dimensions of freedom simulation results show that the proposed approach is effective and feasible.

  7. H∞ control for path tracking of autonomous underwater vehicle motion

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

    Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.

  8. Sliding Mode Control for Trajectory Tracking of an Intelligent Wheelchair

    Directory of Open Access Journals (Sweden)

    Razvan SOLEA

    2009-12-01

    Full Text Available This paper deal with a robust sliding-mode trajectory tracking controller, fornonholonomic wheeled mobile robots and its experimental evaluation by theimplementation in an intelligent wheelchair (RobChair. The proposed control structureis based on two nonlinear sliding surfaces ensuring the tracking of the three outputvariables, with respect to the nonholonomic constraint. The performances of theproposed controller for the trajectory planning problem with comfort constraint areverified through the real time acceleration provided by an inertial measurement unit.

  9. An adaptive sliding mode control technology for weld seam tracking

    Science.gov (United States)

    Liu, Jie; Hu, Youmin; Wu, Bo; Zhou, Kaibo; Ge, Mingfeng

    2015-03-01

    A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algorithm does not require the precise dynamic model, and is more practical. Its robustness is verified by the Lyapunov stability theory. The analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than traditional sliding mode control algorithm under various disturbances.

  10. Feedforward Tracking Control of Flat Recurrent Fuzzy Systems

    Science.gov (United States)

    Gering, Stefan; Adamy, Jürgen

    2014-12-01

    Flatness based feedforward control has proven to be a feasible solution for the problem of tracking control, which may be applied to a broad class of nonlinear systems. If a flat output of the system is known, the control is often based on a feedforward controller generating a nominal input in combination with a linear controller stabilizing the linearized error dynamics around the trajectory. We show in this paper that the very same idea may be incorporated for tracking control of MIMO recurrent fuzzy systems. Their dynamics is given by means of linguistic differential equations but may be converted into a hybrid system representation, which then serves as the basis for controller synthesis.

  11. Dynamic phase-control of a rising sun magnetron using modulated and continuous current

    Energy Technology Data Exchange (ETDEWEB)

    Fernandez-Gutierrez, Sulmer, E-mail: sulmer.a.fernandez.gutierrez@intel.com [Intel Corporation, 2111 NE 25th Ave, Hillsboro, Oregon 97214 (United States); Browning, Jim [Department of Electrical and Computer Engineering, Boise State University, Boise, Idaho 83725 (United States); Lin, Ming-Chieh [Department of Electrical and Biomedical Engineering, Hanyang University, Seoul 133-791 (Korea, Republic of); Smithe, David N. [Tech-X Corporation, 5621 Arapahoe Ave, Boulder, Colorado 80303 (United States); Watrous, Jack [Confluent Sciences, LLC, Albuquerque, New Mexico 87111 (United States)

    2016-01-28

    Phase-control of a magnetron is studied via simulation using a combination of a continuous current source and a modulated current source. The addressable, modulated current source is turned ON and OFF at the magnetron operating frequency in order to control the electron injection and the spoke phase. Prior simulation work using a 2D model of a Rising Sun magnetron showed that the use of 100% modulated current controlled the magnetron phase and allowed for dynamic phase control. In this work, the minimum fraction of modulated current source needed to achieve a phase control is studied. The current fractions (modulated versus continuous) were varied from 10% modulated current to 100% modulated current to study the effects on phase control. Dynamic phase-control, stability, and start up time of the device were studied for all these cases showing that with 10% modulated current and 90% continuous current, a phase shift of 180° can be achieved demonstrating dynamic phase control.

  12. Maximum-power-point tracking control of solar heating system

    KAUST Repository

    Huang, Bin-Juine

    2012-11-01

    The present study developed a maximum-power point tracking control (MPPT) technology for solar heating system to minimize the pumping power consumption at an optimal heat collection. The net solar energy gain Q net (=Q s-W p/η e) was experimentally found to be the cost function for MPPT with maximum point. The feedback tracking control system was developed to track the optimal Q net (denoted Q max). A tracking filter which was derived from the thermal analytical model of the solar heating system was used to determine the instantaneous tracking target Q max(t). The system transfer-function model of solar heating system was also derived experimentally using a step response test and used in the design of tracking feedback control system. The PI controller was designed for a tracking target Q max(t) with a quadratic time function. The MPPT control system was implemented using a microprocessor-based controller and the test results show good tracking performance with small tracking errors. It is seen that the average mass flow rate for the specific test periods in five different days is between 18.1 and 22.9kg/min with average pumping power between 77 and 140W, which is greatly reduced as compared to the standard flow rate at 31kg/min and pumping power 450W which is based on the flow rate 0.02kg/sm 2 defined in the ANSI/ASHRAE 93-1986 Standard and the total collector area 25.9m 2. The average net solar heat collected Q net is between 8.62 and 14.1kW depending on weather condition. The MPPT control of solar heating system has been verified to be able to minimize the pumping energy consumption with optimal solar heat collection. © 2012 Elsevier Ltd.

  13. Tracking instrument and control for solar concentrators. Final technical report, October 1979-January 1981

    Energy Technology Data Exchange (ETDEWEB)

    Gray, J; Kuhlman, J

    1981-01-31

    The tracker uses a single photo sensor, and a rotating aperature to obtain tracking accuracies better than 1.5 mrads (0.1 degs). Peak signal detection is used to eliminate tracking of false sources, i.e., clouds, etc. A prism is employed to obtain an extended field of view (150 degs axially - 360 degs radially). The tracker digitally measures the Suns displacement angle relative to the concentrator axis, and repositions it incrementally. This arrangement permits the use of low cost non-servo motors. The local controller contains microprocessor based electronics, incorporating digital signal processing. A single controller may be time shared by a maximum of sixteen trackers, providing a high performance, cost effective solar tracking system, suitable for both line and point focus concentrators. An installation may have the local controller programmed as a standalone unit or slaved to a central controller. When used with a central controller, dynamic data monitoring and logging is available, together with the ability to change system modes and parameters, as desired.

  14. Midnight sun

    Energy Technology Data Exchange (ETDEWEB)

    Brunger, A.P.; Lambert, S.B.; Gagnon, M.P.

    1990-09-01

    Midnight Sun, the University of Waterloo's solar-electric car, was designed and built by about 30 engineering, kinesiology and physics students for the GM Sunrayce USA held in July 1990. The car measures 2 m by 4.2 m, weighs 224 kg, can collect about 1000 W of solar electricity in full sun, and had a top speed of 79 km/h. The race took 11 days to cover the 1644 miles from the Epcot Center in Lake Buena Vista, Florida to the GM Technical Center in Warren, Michigan. Thirty-two cars, powered only by solar energy, competed in this race. Midnight Sun showed its potential during the race qualifying runs by completing the required qualifying course with the 12th fastest time of 52.83 seconds, and the 6th fastest trap speed of 63 km/h. During the Sunrayce, Midnight Sun came in second on day 1 of the race, tenth on day 6, and eighth on day 7, and was one of only 17 solar cars that were able to make it up the toughest hill in the race on day 8. The most serious problems encountered by the car were a weak rear suspension, power losses, and failure of bypass diodes in the photovoltaic array. Midnight Sun was in 17th place overall at the end of day 9. At about 11:00 am on day 10 in Ohio, the Waterloo car was moving at 60 km/h when it was bumped off the road by an out of control pickup truck. The solar car driver was not hurt. Despite the difficulties, the next day Midnight Sun was repaired and driven across the finish line at the ceremonial finish. After receiving time penalties for not completing the last day and a half of the race, Midnight Sun was awarded 24th place with an official cumulative time of 114 h 37 min 15 s. 4 figs., 4 tabs.

  15. High Precision Control of Ship-Mounted Satellite Tracking Antenna

    DEFF Research Database (Denmark)

    Mohsen, Soltani; Izadi-Zamanabadi, Roozbeh; Wisniewski, Rafal

    2007-01-01

    The telecommunication on a modern merchandise ship is maintained by means of satellite communication. The task of the tracking system is to position the on-board antenna toward a chosen satellite. The control system is capable of rejecting the external disturbances which affect on the under......-actuated antenna and ensures that it remains locked on the satellite. In this paper, a nonlinear internal model controller (NIMC), which achieves asymptotic tracking for the nonlinear antenna system with nonlinear exogenous dynamics, is proposed. Computer simulations as well as practical tests verify...... the effectiveness of this method to cope with the external disturbances that are imposed to the satellite tracking antenna (STA)....

  16. Cartesian Trajectory Tracking for Manipulators Using Optimal Control Theory

    Directory of Open Access Journals (Sweden)

    Olav Egeland

    1987-07-01

    Full Text Available A Cartesian trajectory tracking system for manipulators is developed using optimal control theory. By including the Cartesian position in the state vector, transformation of the trajectory from Cartesian space to manipulator joint space is avoided, and the Jacobian matrix need not be inverted. The tracking system may also be applied to kinematically redundant manipulators. For this type of manipulator, singularities are avoided by choosing a suitable performance index in the optimal control problem. Simulation using a simple kinematically redundant manipulator shows that a small tracking error can be achieved with low motor torques.

  17. A new nonlinear output tracking controller via output-feedback

    Institute of Scientific and Technical Information of China (English)

    Yun ZHANG; Yungang LIU; Yuqin DING

    2006-01-01

    In this paper, the output tracking control is investigated for a class of nonlinear systems when only output is available for feedback. Based on the multivariable analog of circle criterion, an observer is first introduced. Then, the observer-based output tracking controller is constructively designed by using the integral backstepping approach together with completing square. It is shown that, under relatively mild conditions, all the closed-loop signals are uniformly bounded.Meanwhile the system output asymptotically tracks the desired output. A simulation example is given to illustrate the effectiveness of the theoretical results.

  18. High Precision Control of Ship-Mounted Satellite Tracking Antenna

    DEFF Research Database (Denmark)

    Mohsen, Soltani; Izadi-Zamanabadi, Roozbeh; Wisniewski, Rafal

    2007-01-01

    The telecommunication on a modern merchandise ship is maintained by means of satellite communication. The task of the tracking system is to position the on-board antenna toward a chosen satellite. The control system is capable of rejecting the external disturbances which affect on the under......-actuated antenna and ensures that it remains locked on the satellite. In this paper, a nonlinear internal model controller (NIMC), which achieves asymptotic tracking for the nonlinear antenna system with nonlinear exogenous dynamics, is proposed. Computer simulations as well as practical tests verify...... the effectiveness of this method to cope with the external disturbances that are imposed to the satellite tracking antenna (STA)....

  19. Robust trajectory tracking: differential game/cheap control approach

    Science.gov (United States)

    Turetsky, Vladimir; Glizer, Valery Y.; Shinar, Josef

    2014-11-01

    A robust trajectory tracking problem is treated in the framework of a zero-sum linear-quadratic differential game of a general type. For the cheap control version of this game, a novel solvability condition is derived. The sufficient condition, guaranteeing that the tracking problem is solved by the optimal strategy of the minimiser in the cheap control game, is established. The boundedness of the time realisations of this strategy is analysed. An illustrative example is presented.

  20. Sun Proof

    Centers for Disease Control (CDC) Podcasts

    2012-10-23

    In this podcast for kids, the Kidtastics talk about the harmful effects of the sun and how to protect yourself from it.  Created: 10/23/2012 by Centers for Disease Control and Prevention (CDC).   Date Released: 10/23/2012.

  1. 高精度太阳能跟踪控制器%A Dual-Mode Solar Tracking Controller

    Institute of Scientific and Technical Information of China (English)

    王小鑫; 胡红利; 王博

    2012-01-01

    针对目前采用的传统太阳能跟踪控制器传感器形式单一、抗干扰性差、跟踪精度不高等问题,设计了一种基于可编程逻辑控制器(Programmable Logic Controller,PLC)的太阳能跟踪控制器系统.该系统将固定轨迹粗略跟踪方式与光电传感器精确跟踪方式有效地结合起来,并重点将光电传感器加以改进,从而有效地提高了太阳能利用率.由伺服电机作为执行机构控制太阳能板对太阳位置的跟踪,可以实现对太阳高度角和方位角的双自由度跟踪,使太阳能跟踪装置始终正对着太阳光线位置.通过对比实验表明,该跟踪控制器可以达到较高的跟踪精度.%Considering the problems of the current solar tracking controller, such as poor immunity, poor tracking accuracy and the single form of traditional sensor, we designed a dual-mode, high-precision solar tracking system based on Programmable Logic Controller ( PLC). The system effectively combines the rough tracking of fixed trajectory with the accurate tracking of photoelectric sensor, and improves the solar tracking controller's photoelectric sensor tracking mode, thus can increase the utilization of solar energy. The controller has two degrees of freedom, which can track the solar altitude angle and azimuth, and the servo motor as executive agency controls the position of the sun solar tracker, make solar tracking device always vertical to the sun's rays. The experiments results show that the tracking controller can achieve high tracking accuracy.

  2. Possible conservation units of the sun bear (Helarctos malayanus) in Sarawak based on variation of mtDNA control region.

    Science.gov (United States)

    Onuma, Manabu; Suzuki, Masatsugu; Ohtaishi, Noriyuki

    2006-11-01

    The mitochondrial DNA control region of the sun bear (Helarctos malayanus) was sequenced using 21 DNA samples collected from confiscated sun bears to identify conservation units, such as evolutionarily significant units and management units, in Sarawak, Borneo Island. A total of 10 haplotypes were observed, indicating the presence of at least two lineages in the sun bear population in Sarawak. Presumably, these two lineages could represent evolutionarily significant units. However, the geographical distributions of the two lineages remained unknown due to the lack of information regarding the exact capture locations of the confiscated sun bears. It is essential to elucidate the geographical distributions of these lineages in order to create a proper conservation plan for the sun bears in Sarawak. Therefore, further studies examining the haplotype distributions using DNA samples from known localities are essential.

  3. Tracking Control for Switched Cascade Nonlinear Systems

    Directory of Open Access Journals (Sweden)

    Xiaoxiao Dong

    2015-01-01

    Full Text Available The issue of H∞ output tracking for switched cascade nonlinear systems is discussed in this paper, where not all the linear parts of subsystems are stabilizable. The conditions of the solvability for the issue are given by virtue of the structural characteristics of the systems and the average dwell time method, in which the total activation time for stabilizable subsystems is longer than that for the unstabilizable subsystems. At last, a simulation example is used to demonstrate the validity and advantages of the proposed approach.

  4. Robust adaptive tracking control of robotic systems with uncertainties

    Institute of Scientific and Technical Information of China (English)

    Yaonan WANG; Jinzhu PENG; Wei SUN; Hongshan YU; Hui ZHANG

    2008-01-01

    To deal with the uncertainty factors of robotic systems,a robust adaptive tracking controller is Droposed.The knowledge of the uncertainty factors is assumed to be unidentified;the proposed controller can guarantee robustness to parametric and dynamics uncertainties and can also reject any bounded,immeasurable disturbances entering the System.The stability of the proposed controller is proven by the Lyapunov method.The proposed controller can easily be implemented and the stability of the closed system can be ensured;the tracking error and adaptation parameter error are uniformly ultimately bounded(UUB).Finally,some simulation examples are utilized to illustrate the control performance.

  5. Fuzzy Logic Control for Suspension Systems of Tracked Vehicles

    Institute of Scientific and Technical Information of China (English)

    YU Yang; WEI Xue-xia; ZHANG Yong-fa

    2009-01-01

    A scheme of fuzzy logic control for the suspension system of a tracked vehicle is presented.A mechanical model for the whole body of a tracked vehicle,which is totally a fifteen-degree-of-freedom system,is established.The model includes the vertical motion,the pitch motion as well as the roll motion of the tracked vehicle.In contrast to most previous studies,the coupling effect among the vertical,the pitch and the roll motions of the suspension system of a tracked vehicle is considered simultaneously.The simulation of fuzzy logic control under road surface with random excitation shows that the acceleration,pitch angle and roll angle of suspension system can be efficiently controlled.

  6. Solar radiation pressure used for formation flying control around the Sun-Earth libration point

    Institute of Scientific and Technical Information of China (English)

    Sheng-ping GONG; Jun-feng LI; He-xi BAOYIN

    2009-01-01

    Solar radiation pressure is used to control the formation flying around the L2 libration point in the Sun-Earth system. Formation flying control around a halo orbit requires a very small thrust that cannot be satisfied by the latest thrusters. The key contribution of this paper is that the continuous low thrust is produced by solar radiation pressure to achieve the tight formation flying around the libration point. However, only certain families of formation types can be controlled by solar radiation pressure since the direction of solar radiation pressure is restricted to a certain range. Two types of feasible formations using solar radiation pressure control are designed. The conditions of feasible formations are given analytically. Simulations are presented for each case, and the results show that the formations are well controlled by solar radiation pressure.

  7. Tracking control of chaotic dynamical systems with feedback linearization

    Institute of Scientific and Technical Information of China (English)

    QI Dong-lian; MA Guo-jin

    2005-01-01

    A new method was proposed for tracking the desired output of chaotic dynamical system using the feedback linearization and nonlinear extended statement observer method. The feedback linearization was used to convert the nonlinear chaotic system into linear system. The extended Luenberger-like statements observer was designed to reconstructing and observing the unmeasured statements when the tracking controller was designed. By this way, the chaotic system could be forced to track variable desired output, which could be a time variant function or an equilibrium points.Taken the Lorenz chaotic system as example, the simulation results show the validity of the conclusion and effectiveness of the algorithm.

  8. Head Tracking Based Avatar Control for Virtual Environment Teamwork Training

    Directory of Open Access Journals (Sweden)

    Stefan Marks

    2012-12-01

    Full Text Available Virtual environments (VE are gaining in popularity and are increasingly used for teamwork training purposes, e.g., for medical teams. One shortcoming of modern VEs is that nonverbal communication channels, essential for teamwork, are not supported well. We address this issue by using an inexpensive webcam to track the user's head. This tracking information is used to control the head movement of the user's avatar, thereby conveying head gestures and adding a nonverbal communication channel. We conducted a user study investigating the influence of head tracking based avatar control on the perceived realism of the VE and on the performance of a surgical teamwork training scenario. Our results show that head tracking positively influences the perceived realism of the VE and the communication, but has no major influence on the training outcome.

  9. Simple adaptive tracking control for mobile robots

    Science.gov (United States)

    Bobtsov, Alexey; Faronov, Maxim; Kolyubin, Sergey; Pyrkin, Anton

    2014-12-01

    The problem of simple adaptive and robust control is studied for the case of parametric and dynamic dimension uncertainties: only the maximum possible relative degree of the plant model is known. The control approach "consecutive compensator" is investigated. To illustrate the efficiency of proposed approach an example with the mobile robot motion control using computer vision system is considered.

  10. Tracking controller for robot manipulators via composite nonlinear feedback law

    Institute of Scientific and Technical Information of China (English)

    Peng Wendong; Su Jianbo

    2009-01-01

    A composite nonlinear feedback tracking controller for motion control of robot manipulators is de-scribed. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dynamics compensation. The stability is carried out in the presence of friction. The controller takes advantage of varying damping ratios induced by the composite nonlinear feedback control, so the transient performance of the closed-loop is remarkably improved. Simulation results demonstrate the feasibility of the proposed method.

  11. Slab Tracking and Controlling on Hot Plate Rolling Line

    Institute of Scientific and Technical Information of China (English)

    姚小兰; 邓波; 梁启宏; 李保奎

    2004-01-01

    By studying the slab moving in detail in the plate rolling process, the problem of slab tracking and controlling was solved by using the distributed control system. The problems of rhythm control for the big-complex system, the exchange of manual and automatic operations, the data exchange between the levelⅠ, TCS (technology control system) and levelⅡ, PCS (process control system), are solved. By this way, the automatic level of the plate production line is improved.

  12. Geometric Tracking Control of a Quadrotor UAV on SE(3)

    CERN Document Server

    Lee, Taeyoung; McClamroch, N Harris

    2010-01-01

    This paper provides new results for the tracking control of a quadrotor unmanned aerial vehicle (UAV). The UAV has four input degrees of freedom, namely the magnitudes of the four rotor thrusts, that are used to control the six translational and rotational degrees of freedom, and to achieve asymptotic tracking of four outputs, namely, three position variables for the vehicle center of mass and the direction of one vehicle body-fixed axis. A globally defined model of the quadrotor UAV rigid body dynamics is introduced as a basis for the analysis. A nonlinear tracking controller is developed on the special Euclidean group SE(3) and it is shown to have desirable closed loop properties that are almost global. Several numerical examples, including an example in which the quadrotor recovers from being initially upside down, illustrate the versatility of the controller.

  13. Investigation of Adaptive Controllers for Puma Trajectory Tracking

    Science.gov (United States)

    1991-06-01

    Tarokh’s and Seraji’s Control Algorithms - Trajectory ] 4-14 vii 0 Imagen Laser Printer (im132) Owner dsims 00 Host wa7 //printer im132 Date Wed Apr...INVESTIGATION OF ADAPTIVE CONTROLLERS FOR PUMA TRAJECTORY TRACKING THESIS Daniel J. Sims Captain, USAF AFIT/GE/ENG/91J-05 Approved for public release...Adaptive Controllers for PUMA Trajectory Tracking. 6. AUTHOR(S) Daniel J. Sims, Capt, USAF 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) 8

  14. Natural biological control of pest mites in Brazilian sun coffee agroecosystems.

    Science.gov (United States)

    Teodoro, Adenir V; Sarmento, Renato A; Rêgo, Adriano S; da Graça S Maciel, Anilde

    2010-06-01

    Coffee is one of the leading commodities in tropical America. Although plantations are usually established under a canopy of trees in most producing countries in the region, Brazilian coffee is mostly produced under full sun conditions. Such simple, single-crop agroecosystems with intensive agrochemical inputs often suffer with pests like mites. Predatory mites of the family Phytoseiidae are the main natural enemies associated with pest mites in the field. However, these beneficial arthropods struggle to survive in intensive agroecosystems such as coffee monocultures due to unfavorable microclimatic conditions, widespread pesticide use, and lack of alternative food (pollen, nectar). Conservation biological control uses a range of management strategies to sustain and enhance populations of indigenous natural enemies such as predatory mites. We discuss here conservation biological control as a strategy to improve biological control of pest mites by native predatory mites in Brazilian coffee monocultures as well as some related patents.

  15. Sliding mode tracking control for miniature unmanned helicopters

    Directory of Open Access Journals (Sweden)

    Bin Xian

    2015-02-01

    Full Text Available A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter’s dynamic model is divided into two subsystems, such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles’ dynamic effects and external disturbances. The global asymptotic stability (GAS of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportional-integral-derivative (PID and linear-quadratic regulator (LQR cascaded controller in the presence of wind gust disturbances.

  16. Sliding mode tracking control for miniature unmanned helicopters

    Institute of Scientific and Technical Information of China (English)

    Xian Bin; Guo Jianchuan; Zhang Yao; Zhao Bo

    2015-01-01

    A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter’s dynamic model is divided into two subsystems, such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles’ dynamic effects and external disturbances. The global asymptotic stability (GAS) of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportional-integral-derivative (PID) and linear-quadratic regulator (LQR) cascaded controller in the presence of wind gust disturbances.

  17. Parametric Approach to Trajectory Tracking Control of Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Shijie Zhang

    2013-01-01

    Full Text Available The mathematic description of the trajectory of robot manipulators with the optimal trajectory tracking problem is formulated as an optimal control problem, and a parametric approach is proposed for the optimal trajectory tracking control problem. The optimal control problem is first solved as an open loop optimal control problem by using a time scaling transform and the control parameterization method. Then, by virtue of the relationship between the optimal open loop control and the optimal closed loop control along the optimal trajectory, a practical method is presented to calculate an approximate optimal feedback gain matrix, without having to solve an optimal control problem involving the complex Riccati-like matrix differential equation coupled with the original system dynamics. Simulation results of 2-link robot manipulator are presented to show the effectiveness of the proposed method.

  18. Tethered Vehicle Control and Tracking System

    Science.gov (United States)

    North, David D. (Inventor); Aull, Mark J. (Inventor)

    2017-01-01

    A kite system includes a kite and a ground station. The ground station includes a sensor that can be utilized to determine an angular position and velocity of the kite relative to the ground station. A controller utilizes a fuzzy logic control system to autonomously fly the kite. The system may include a ground station having powered winding units that generate power as the lines to the kite are unreeled. The control system may be configured to fly the kite in a crosswind trajectory to increase line tension for power generation. The sensors for determining the position of the kite are preferably ground-based.

  19. Arbitrary Finite-time Tracking Control for Magnetic Levitation Systems

    Directory of Open Access Journals (Sweden)

    Xuan-Toa Tran

    2014-10-01

    Full Text Available In this paper, an arbitrary finite-time tracking control (AFTC method is developed for magnetic levitation systems with uncertain dynamics and external disturbances. By introducing a novel augmented sliding-mode manifold function, the proposed method can eliminate the singular problem in traditional terminal sliding-mode control, as well as the reaching-phase problem. Moreover, the tracking errors can reach the reference value with faster convergence and better tracking precision in arbitrarily determined finite time. In addition, a fuzzy-arbitrary finite-time tracking control (F-AFTC scheme that combines a fuzzy technique with AFTC to enhance the robustness and sliding performance is also proposed. A fuzzy logic system is used to replace the discontinuous control term. Thus, the chattering phenomenon is resolved without degrading the tracking performance. The stability of the closed-loop system is guaranteed by the Lyapunov theory. Finally, the effectiveness of the proposed methods is illustrated by simulation and experimental study in a real magnetic levitation system.

  20. Arbitrary Finite-time Tracking Control for Magnetic Levitation Systems

    Directory of Open Access Journals (Sweden)

    Xuan-Toa Tran

    2014-10-01

    Full Text Available In this paper, an arbitrary finite-time tracking control (AFTC method is developed for magnetic levitation systems with uncertain dynamics and external disturbances. By introducing a novel augmented sliding- mode manifold function, the proposed method can eliminate the singular problem in traditional terminal sliding-mode control, as well as the reaching-phase problem. Moreover, the tracking errors can reach the reference value with faster convergence and better tracking precision in arbitrarily determined finite time. In addition, a fuzzy-arbitrary finite-time tracking control (F- AFTC scheme that combines a fuzzy technique with AFTC to enhance the robustness and sliding performance is also proposed. A fuzzy logic system is used to replace the discontinuous control term. Thus, the chattering phenomenon is resolved without degrading the tracking performance. The stability of the closed-loop system is guaranteed by the Lyapunov theory. Finally, the effectiveness of the proposed methods is illustrated by simulation and experimental study in a real magnetic levitation system.

  1. Vehicle path tracking by integrated chassis control

    Institute of Scientific and Technical Information of China (English)

    Saman Salehpour; Yaghoub Pourasad; Seyyed Hadi Taheri

    2015-01-01

    The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. In order to follow desired path, a driver model is developed to enhance closed loop driver/vehicle model. Then, linear quadratic regulator (LQR) controller is developed which regulates direct yaw moment and corrective steering angle on wheels. Particle swam optimization (PSO) method is utilized to optimize the LQR controller for various dynamic conditions. Simulation results indicate that, over various maneuvers, side slip angle and lateral acceleration can be reduced by 10%and 15%, respectively, which sustain the vehicle stable. Also, anti-lock brake system is designed for longitudinal dynamics of vehicle to achieve desired slip during braking and accelerating. Proposed comprehensive controller demonstrates that vehicle steerability can increase by about 15% during severe braking by preventing wheel from locking and reducing stopping distance.

  2. Path-tracking control of a tractor-aircraft system

    Science.gov (United States)

    Wang, Nengjian; Liu, Hongbo; Yang, Wanhui

    2012-12-01

    An aircraft tractor plays a significant role as a kind of important marine transport and support equipment. It's necessary to study its controlling and manoeuvring stability to improve operation efficiency. A virtual prototyping model of the tractor-aircraft system based on Lagrange's equation of the first kind with Lagrange mutipliers was established in this paper. According to the towing characteristics, a path-tracking controller using fuzzy logic theory was designed. Direction control herein was carried out through a compensatory tracking approach. Interactive co-simulation was performed to validate the path-tracking behavior in closed-loop. Simulation results indicated that the tractor followed the reference courses precisely on a flat ground.

  3. Path-tracking Control of a Tractor-aircraft System

    Institute of Scientific and Technical Information of China (English)

    Nengjian Wang; Hongbo Liu; Wanhui Yang

    2012-01-01

    An aircraft tractor plays a significant role as a kind of important marine transport and support equipment.It's necessary to study its controlling and manoeuvring stability to improve operation efficiency.A virtual prototyping model of the tractor-aircraft system based on Lagrange's equation of the first kind with Lagrange mutipliers was established in this paper.According to the towing characteristics,a path-tracking controller using fuzzy logic theory was designed.Direction control herein was carried out through a compensatory tracking approach.Interactive co-simulation was performed to validate the path-tracking behavior in closed-loop.Simulation results indicated that the tractor followed the reference courses precisely on a flat ground.

  4. Shift control method for the local time at descending node based on sun-synchronous orbit satellite

    Institute of Scientific and Technical Information of China (English)

    Yang Yong'an; Feng Zuren; Sun Linyan; Tan Wei

    2009-01-01

    This article analyzes the shift factors of the descending node local time for sun-synchronous satellites and proposes a shift control method to keep the local time shift within an allowance range. It is found that the satellite orbit design and the orbit injection deviation are the causes for the initial shift velocity, whereas the atmospheric drag and the sun gravitational perturbation produce the shift acceleration. To deal with these shift factors, a shift control method is put forward, through such methods as orbit variation design, orbit altitude, and inclination keeping control. The simulation experiment and practical application have proved the effectiveness of this control method.

  5. A novel technique for active vibration control, based on optimal tracking control

    Indian Academy of Sciences (India)

    BEHROUZ KHEIRI SARABI; MANU SHARMA; DAMANJEET KAUR

    2017-08-01

    In the last few decades, researchers have proposed many control techniques to suppress unwanted vibrations in a structure. In this work, a novel and simple technique is proposed for the active vibration control. In this technique, an optimal tracking control is employed to suppress vibrations in a structure by simultaneously tracking zero references for modes of vibration. To illustrate the technique, a two-degrees of freedom spring-mass-dampersystem is considered as a test system. The mathematical model of the system is derived and then converted into a state-space model. A linear quadratic tracking control law is then used to make the disturbed system track zero references.

  6. A novel technique for active vibration control, based on optimal tracking control

    Science.gov (United States)

    Kheiri Sarabi, Behrouz; Sharma, Manu; Kaur, Damanjeet

    2017-08-01

    In the last few decades, researchers have proposed many control techniques to suppress unwanted vibrations in a structure. In this work, a novel and simple technique is proposed for the active vibration control. In this technique, an optimal tracking control is employed to suppress vibrations in a structure by simultaneously tracking zero references for modes of vibration. To illustrate the technique, a two-degrees of freedom spring-mass-damper system is considered as a test system. The mathematical model of the system is derived and then converted into a state-space model. A linear quadratic tracking control law is then used to make the disturbed system track zero references.

  7. Tracking control for VTOL aircraft with disabled IMUs

    Science.gov (United States)

    Wang, Xinhua; Liu, Jinkun; Cai, Kai-Yuan

    2010-10-01

    This article focuses on the design of an output feedback controller able to achieve the asymptotic tracking of a reference trajectory for vertical take off and landing aircraft with disabled inertial measurement units (IMUs). Roll angle and roll rate cannot be measured directly when IMUs are disabled. A dynamic linear observer is designed to estimate the tracking errors of the roll angle and equivalent roll angular velocity with respect to their desired states. Moreover, based on the centre manifold theory and on the equivalent control, the closed-loop system is asymptotically convergent. The theoretical results are confirmed by computer simulations.

  8. Tracking the Sun: The Installed Cost of Photovoltaics in the U.S. from 1998-2007

    Energy Technology Data Exchange (ETDEWEB)

    Wiser, Ryan; Barbose, Galen; Peterman, Carla

    2009-02-11

    As installations of grid-connected solar photovoltaic (PV) systems have grown, so too has the desire to track the installed cost of these systems over time, by system characteristics, by system location, and by component. This report helps to fill this need by summarizing trends in the installed cost of grid-connected PV systems in the United States from 1998 through 2007. The report is based on an analysis of installed cost data from nearly 37,000 residential and non-residential PV systems, totaling 363 MW of capacity, and representing 76percent of all grid-connected PV capacity installed in the U.S. through 2007.

  9. Tracking the Sun: The Installed Cost of Photovoltaics in the U.S. from 1998-2007

    OpenAIRE

    2009-01-01

    As installations of grid-connected solar photovoltaic (PV) systems have grown, so too has the desire to track the installed cost of these systems over time, by system characteristics, by system location, and by component. This report helps to fill this need by summarizing trends in the installed cost of grid-connected PV systems in the United States from 1998 through 2007. The report is based on an analysis of installed cost data from nearly 37,000 residential and non-residential PV systems,...

  10. Approximate Dynamic Programming in Tracking Control of a Robotic Manipulator

    OpenAIRE

    Marcin Szuster; Piotr Gierlak

    2016-01-01

    This article focuses on the implementation of an approximate dynamic programming algorithm in the discrete tracking control system of the three-degrees of freedom Scorbot-ER 4pc robotic manipulator. The controlled system is included in an articulated robots group which uses rotary joints to access their work space. The main part of the control system is a dual heuristic dynamic programming algorithm that consists of two structures designed in the form of neural networks: an actor and a critic...

  11. Observational Tracking of the 2D Structure of Coronal Mass Ejections Between the Sun and 1 AU

    CERN Document Server

    Savani,; Davies,; A., J; Davis,; J., C; Shiota,; D.,; Rouillard,; P., A; Owens,; J., M; Kusano,; K.,; Bothmer,; V.,; Bamford,; P., S; Lintott,; J., C; Smith,; A,

    2015-01-01

    The Solar TErrestrial RElations Observatory (STEREO) provides high cadence and high resolution images of the structure and morphology of coronal mass ejections (CMEs) in the inner heliosphere. CME directions and propagation speeds have often been estimated through the use of time-elongation maps obtained from the STEREO Heliospheric Imager (HI) data. Many of these CMEs have been identified by citizen scientists working within the SolarStormWatch project ( www.solarstormwatch.com ) as they work towards providing robust real-time identification of Earth-directed CMEs. The wide field of view of HI allows scientists to directly observe the two-dimensional (2D) structures, while the relative simplicity of time-elongation analysis means that it can be easily applied to many such events, thereby enabling a much deeper understanding of how CMEs evolve between the Sun and the Earth. For events with certain orientations, both the rear and front edges of the CME can be monitored at varying heliocentric distances (R) bet...

  12. Tracking control of robot manipulators via output feedback linearization

    Institute of Scientific and Technical Information of China (English)

    FEI Yue-nong; Wu Qing-hua

    2006-01-01

    This paper presents a robot manipulator tracking controller based on output feedback linearization.A sliding mode perturbation observer (SPO) is designed to estimate unmeasurable states and system perturbations that involve system nonlinearities,disturbances and unmodelled dynamics.The use of SPO allows to input/output linearize and decouple the strongly coupled nonlinear robot manipulator system merely by the feedback of joint angles.The controller design does not need an accurate model of the robot manipulator.Simulation studies are undertaken based on a two-link robot manipulator to evaluate the proposed approach.The simulation results show that the proposed controller has more superior tracking control performance,with payload changing in a wide range,in comparison with a sliding mode controller (SMC) designed based on state feedback linearization with full states available.

  13. Robust spacecraft attitude tracking control using hybrid actuators with uncertainties

    Science.gov (United States)

    Cao, Xibin; Wu, Baolin

    2017-07-01

    The problem of spacecraft attitude tracking using hybrid actuators with uncertainties is addressed in this paper. A hybrid actuators configuration that combines reaction wheels for fine pointing and single gimbal control moment gyros for rapid maneuvering is employed for agile spacecraft. A robust control algorithm for the spacecraft attitude tracking problem when the torque axis direction and/or input scaling of the actuators are uncertain is developed. Furthermore, a torque allocation method is proposed for the hybrid actuator configuration to allow a smooth switch between single gimbal control moment gyros and reaction wheels. With this method, single gimbal control moment gyros are used for the phase of rapid maneuvering, while reaction wheels are used for the phase of fine pointing. Simulation results demonstrate the effectiveness of the proposed control scheme.

  14. The sophisticated control of the tram bogie on track

    Directory of Open Access Journals (Sweden)

    Radovan DOLECEK

    2015-09-01

    Full Text Available The paper deals with the problems of routing control algorithms of new conception of tram vehicle bogie. The main goal of these research activities is wear reduction of rail wheels and tracks, wear reduction of traction energy losses and increasing of running comfort. The testing experimental tram vehicle with special bogie construction powered by traction battery is utilized for these purposes. This vehicle has a rotary bogie with independent rotating wheels driven by permanent magnets synchronous motors and a solid axle. The wheel forces in bogie are measured by large amounts of the various sensors placed on the testing experimental tram vehicle. Nowadays the designed control algorithms are implemented to the vehicle superset control system. The traction requirements and track characteristics have an effect to these control algorithms. This control including sophisticated routing brings other improvements which is verified and corrected according to individual traction and driving characteristics, and opens new possibilities.

  15. Path-tracking control of underactuated ships under tracking error constraints

    Science.gov (United States)

    Do, Khac Duc

    2015-12-01

    This paper presents a constructive design of new controllers that force underactuated ships under constant or slow time-varying sea loads to asymptotically track a parameterized reference path, that guarantees the distance from the ship to the reference path always be within a specified value. The control design is based on a global exponential disturbance observer, a transformation of the ship dynamics to an almost spherical form, an interpretation of the tracking errors in an earth-fixed frame, an introduction of dynamic variables to compensate for relaxation of the reference path generation, p-times differentiable step functions, and backstepping and Lyapunov's direct methods. The effectiveness of the proposed results is illustrated through simulations.

  16. Path-tracking Control of Underactuated Ships Under Tracking Error Constraints

    Institute of Scientific and Technical Information of China (English)

    Khac Duc Do

    2015-01-01

    This paper presents a constructive design of new controllers that force underactuated ships under constant or slow time-varying sea loads to asymptotically track a parameterized reference path, that guarantees the distance from the ship to the reference path always be within a specified value. The control design is based on a global exponential disturbance observer, a transformation of the ship dynamics to an almost spherical form, an interpretation of the tracking errors in an earth-fixed frame, an introduction of dynamic variables to compensate for relaxation of the reference path generation, p-times differentiable step functions, and backstepping and Lyapunov’s direct methods. The effectiveness of the proposed results is illustrated through simulations.

  17. Path tracking control of autonomous agricultural mobile robots

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. The feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral deviations being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model.

  18. STUDY AND REALIZATION OF DEVICE OF SOLAR SENSITIVE TRACKING FOR A PROTOTYPE OF CYLINDRO-PARABOLIC CONCENTRATOR

    Directory of Open Access Journals (Sweden)

    A. Gama

    2015-08-01

    Full Text Available After the realization of a new prototype of concentrator through, we have study the realization of a sun tracking system in order to assure the best system efficiency throughout the day. We started in the first step by the blind sun tracking where we have acquired the good results. In this paper we try to speak about the realization of a new system of sun tracking who is the sensitive sun tracking. In this sort of tracking we have used a special telescope, like a sensitive element in for the detection of sun position. An electronic Card based PIC microcontroller is realized to pilot the mechanic system of the san tracking. In order to controlled the prototype we have put on a chain of data acquisition. The results were compared with the results of the blind sun tracking system and the stationary position, it was noted that the results were better this time and the efficiency is very important.

  19. Construction of a WMR for Trajectory Tracking Control: Experimental Results

    Directory of Open Access Journals (Sweden)

    R. Silva-Ortigoza

    2013-01-01

    Full Text Available This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x*,y* and orientation (φ*. Then, a low-level control law, based on a proportional integral (PI approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1 time-varying parametric trajectories such as straight lines and parabolas and (2 smooth curves fitted by cubic splines which are generated by the desired data points x1*,y1*,…,xn*,yn*. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.

  20. Autopilot Control Synthesis for Path Tracking Maneuvers of Underwater Vehicles

    Institute of Scientific and Technical Information of China (English)

    Sam-Sang YOU; Hyeung-Sik CHOI; Hwan-Seong KIM; Han-Il PARK

    2011-01-01

    This paper is concerned with the robust control synthesis of autonomous underwater vehicle (AUV) for general path following maneuvers. First, we present maneuvering kinematics and vehicle dynamics in a unified framework. Based on H loop-shaping procedure, the 2-DOF autopilot controller has been presented to enhance stability and path tracking.By use of model reduction, the high-order control system is reduced to one with reasonable order, and further the scaled low-order controller has been analyzed in both the frequency and the time domains. Finally, it is shown that the autopilot control system provides robust performance and stability against prescribed levels of uncertainty.

  1. Initial Assessment of the Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research (4STAR-Based Aerosol Retrieval: Sensitivity Study

    Directory of Open Access Journals (Sweden)

    Alexander Sinyuk

    2012-10-01

    Full Text Available The Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research (4STAR being developed for airborne measurements will offer retrievals of aerosol microphysical and optical properties from multi-angular and multi-spectral measurements of sky radiance and direct-beam sun transmittance. In this study, we assess the expected accuracy of the 4STAR-based aerosol retrieval and its sensitivity to major sources of anticipated perturbations in the 4STAR measurements. The major anticipated perturbations are (1 an apparent enhancement of sky radiance at small scattering angles associated with the necessarily compact design of the 4STAR and (2 an offset (i.e., uncertainty of sky radiance calibration independent of scattering angle. The assessment is performed through application of the operational AERONET aerosol retrieval and constructed synthetic 4STAR-like data. Particular attention is given to the impact of these perturbations on the broadband fluxes and the direct aerosol radiative forcing. The results from this study suggest that limitations in the accuracy of 4STAR-retrieved particle size distributions and scattering phase functions have diminished impact on the accuracy of retrieved bulk microphysical parameters, permitting quite accurate retrievals of properties including the effective radius (up to 10%, or 0.03, and the radiatively important optical properties, such as the asymmetry factor (up to 4%, or ±0.02 and single-scattering albedo (up to 6%, or ±0.04. Also, the obtained results indicate that the uncertainties in the retrieved aerosol optical properties are quite small in the context of the calculated fluxes and direct aerosol radiative forcing (up to 15%, or 3 W∙m−2.

  2. Combined Optimal Sizing and Control for a Hybrid Tracked Vehicle

    Directory of Open Access Journals (Sweden)

    Huei Peng

    2012-11-01

    Full Text Available The optimal sizing and control of a hybrid tracked vehicle is presented and solved in this paper. A driving schedule obtained from field tests is used to represent typical tracked vehicle operations. Dynamics of the diesel engine-permanent magnetic AC synchronous generator set, the lithium-ion battery pack, and the power split between them are modeled and validated through experiments. Two coupled optimizations, one for the plant parameters, forming the outer optimization loop and one for the control strategy, forming the inner optimization loop, are used to achieve minimum fuel consumption under the selected driving schedule. The dynamic programming technique is applied to find the optimal controller in the inner loop while the component parameters are optimized iteratively in the outer loop. The results are analyzed, and the relationship between the key parameters is observed to keep the optimal sizing and control simultaneously.

  3. Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Yassine Bouteraa

    2011-01-01

    while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots' joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange between manipulators. So, it does not assume the existence of an explicit leader in the team. Based above all on combination of Lyapunov direct method and cross-coupling strategy, the proposed decentralized control law is extended to an adaptive synchronization control taking into account parameter uncertainties. To address the time delay problems in the network communication channels, the suggested synchronization control law robustly synchronizes robots to track a given trajectory. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem. A real-time software simulator is developed to visualize the robot manipulators coordination.

  4. Switching Tracking Control for Planar Systems with Transient Performance Constraints

    Institute of Scientific and Technical Information of China (English)

    SU Qing-Yu; SUN Xi-Ming; ZHAO Jun

    2013-01-01

    This paper studies the output tracking problem for a class of planar systems with some given transient performance constraints which are determined by the overshoot and the settling time.The problem of switched static output feedback tracking with output constraints (SSOFTOC) is proposed and solved for the first time.The static output feedback controllers and a so-called conic switching law are designed under which the output of the closed-loop switched system can track the step signal asymptotically without violating the transient performance constraints.Furthermore,an optimal weighted transient performance is obtained by.solving a nonlinear programming problem.Finally,a numerical example and an application to aircraft turbofan engine are given to illustrate the effectiveness and the applicability of the proposed method.

  5. Robust Tracking Control of Mobile Robot Formation with Obstacle Avoidance

    OpenAIRE

    Tiantian Yang; Zhiyuan Liu; Hong Chen; Run Pei

    2007-01-01

    We consider the formation control problem of multiple wheeled mobile robots with parametric uncertainties and actuator saturations in the environment with obstacles. First, a nonconvex optimization problem is introduced to generate the collision-free trajectory. If the robots tracking along the reference trajectory find themselves moving close to the obstacles, a new collision-free trajectory is generated automatically by solving the optimization problem. Then, a distributed control scheme...

  6. Attitude tracking control of flexible spacecraft with large amplitude slosh

    Science.gov (United States)

    Deng, Mingle; Yue, Baozeng

    2017-08-01

    This paper is focused on attitude tracking control of a spacecraft that is equipped with flexible appendage and partially filled liquid propellant tank. The large amplitude liquid slosh is included by using a moving pulsating ball model that is further improved to estimate the settling location of liquid in microgravity or a zero-g environment. The flexible appendage is modelled as a three-dimensional Bernoulli-Euler beam, and the assumed modal method is employed. A hybrid controller that combines sliding mode control with an adaptive algorithm is designed for spacecraft to perform attitude tracking. The proposed controller has proved to be asymptotically stable. A nonlinear model for the overall coupled system including spacecraft attitude dynamics, liquid slosh, structural vibration and control action is established. Numerical simulation results are presented to show the dynamic behaviors of the coupled system and to verify the effectiveness of the control approach when the spacecraft undergoes the disturbance produced by large amplitude slosh and appendage vibration. Lastly, the designed adaptive algorithm is found to be effective to improve the precision of attitude tracking.

  7. Robust guaranteed cost tracking control of quadrotor UAV with uncertainties.

    Science.gov (United States)

    Xu, Zhiwei; Nian, Xiaohong; Wang, Haibo; Chen, Yinsheng

    2017-07-01

    In this paper, a robust guaranteed cost controller (RGCC) is proposed for quadrotor UAV system with uncertainties to address set-point tracking problem. A sufficient condition of the existence for RGCC is derived by Lyapunov stability theorem. The designed RGCC not only guarantees the whole closed-loop system asymptotically stable but also makes the quadratic performance level built for the closed-loop system have an upper bound irrespective to all admissible parameter uncertainties. Then, an optimal robust guaranteed cost controller is developed to minimize the upper bound of performance level. Simulation results verify the presented control algorithms possess small overshoot and short setting time, with which the quadrotor has ability to perform set-point tracking task well. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  8. Reach tracking reveals dissociable processes underlying cognitive control.

    Science.gov (United States)

    Erb, Christopher D; Moher, Jeff; Sobel, David M; Song, Joo-Hyun

    2016-07-01

    The current study uses reach tracking to investigate how cognitive control is implemented during online performance of the Stroop task (Experiment 1) and the Eriksen flanker task (Experiment 2). We demonstrate that two of the measures afforded by reach tracking, initiation time and reach curvature, capture distinct patterns of effects that have been linked to dissociable processes underlying cognitive control in electrophysiology and functional neuroimaging research. Our results suggest that initiation time reflects a response threshold adjustment process involving the inhibition of motor output, while reach curvature reflects the degree of co-activation between response alternatives registered by a monitoring process over the course of a trial. In addition to shedding new light on fundamental questions concerning how these processes contribute to the cognitive control of behavior, these results present a framework for future research to investigate how these processes function across different tasks, develop across the lifespan, and differ among individuals. Copyright © 2016 Elsevier B.V. All rights reserved.

  9. Neural adaptive attitude tracking controller for flexible spacecraft

    Institute of Scientific and Technical Information of China (English)

    XIAO Bing; HU Qing-lei; MA Guang-fu

    2010-01-01

    In this paper,a neural network adaptive controller is proposed for attitude tracking of flexible spacecraft in presence of unknown inertial matrix and external disturbance.In this approach,neural network technique is employed to approximate the unknown system dynamics with finite combinations of some basis functions,and a robust controller is also designed to attenuate the effect of approximation error,more specially,the knowledge of angular velocity is not required.In the closed-loop system,Lyapunov stability analysis shows that the attitude trajectories asymptotically follow the reference output trajectories.Finally,simulation results are presented for the attitude tracking of a flexible spacecraft to show the excellent performance of the proposed controller and illustrate its robustness in face of external disturbances and unknown dynamics.

  10. Tracking the Sun II: The Installed Cost of Photovoltaics in the U.S. from 1998-2008

    Energy Technology Data Exchange (ETDEWEB)

    Barbose, Galen L; Wiser, Ryan; Peterman, Carla; Darghouth, Naim

    2009-10-05

    Installations of solar photovoltaic (PV) systems have been growing at a rapid pace in recent years. In 2008, 5,948 MW of PV was installed globally, up from 2,826 MW in 2007, and was dominated by grid-connected applications. The United States was the world's third largest PV market in terms of annual capacity additions in 2008, behind Spain and Germany; 335 MW of PV was added in the U.S. in 2008, 293 MW of which came in the form of grid-connected installations. Despite the significant year-on-year growth, however, the share of global and U.S. electricity supply met with PV remains small, and annual PV additions are currently modest in the context of the overall electric system. The market for PV in the U.S. is driven by national, state, and local government incentives, including up-front cash rebates, production-based incentives, requirements that electricity suppliers purchase a certain amount of solar energy, and Federal and state tax benefits. These programs are, in part, motivated by the popular appeal of solar energy, and by the positive attributes of PV - modest environmental impacts, avoidance of fuel price risks, coincidence with peak electrical demand, and the location of PV at the point of use. Given the relatively high cost of PV, however, a key goal of these policies is to encourage cost reductions over time. Therefore, as policy incentives have become more significant and as PV deployment has accelerated, so too has the desire to track the installed cost of PV systems over time, by system characteristics, by system location, and by component. To address this need, Lawrence Berkeley National Laboratory initiated a report series focused on describing trends in the installed cost of grid-connected PV systems in the U.S. The present report, the second in the series, describes installed cost trends from 1998 through 2008. The analysis is based on project-level cost data from more than 52,000 residential and non-residential PV systems in the U.S., all of

  11. Tracking the Sun III; The Installed Cost of Photovoltaics in the United States from 1998-2009

    Energy Technology Data Exchange (ETDEWEB)

    Barbose, Galen; Darghouth, Naim; Wiser, Ryan

    2010-12-13

    Installations of solar photovoltaic (PV) systems have been growing at a rapid pace in recent years. In 2009, approximately 7,500 megawatts (MW) of PV were installed globally, up from approximately 6,000 MW in 2008, consisting primarily of grid-connected applications. With 335 MW of grid-connected PV capacity added in 2009, the United States was the world's fourth largest PV market in 2009, behind Germany, Italy, and Japan. The market for PV in the United States is driven by national, state, and local government incentives, including up-front cash rebates, production-based incentives, requirements that electricity suppliers purchase a certain amount of solar energy, and federal and state tax benefits. These programs are, in part, motivated by the popular appeal of solar energy, and by the positive attributes of PV - modest environmental impacts, avoidance of fuel price risks, coincidence with peak electrical demand, and the possible deployment of PV at the point of use. Given the relatively high cost of PV, however, a key goal of these policies is to encourage cost reductions over time. Therefore, as policy incentives have become more significant and as PV deployment has accelerated, so too has the desire to track the installed cost of PV systems over time, by system characteristics, by system location, and by component. Despite the significant year-on-year growth, however, the share of global and U.S. electricity supply met with PV remains small, and annual PV additions are currently modest in the context of the overall electric system. To address this need, Lawrence Berkeley National Laboratory initiated a report series focused on describing trends in the installed cost of grid-connected PV systems in the United States. The present report, the third in the series, describes installed cost trends from 1998 through 2009, and provides preliminary cost data for systems installed in 2010. The analysis is based on project-level cost data from approximately 78

  12. Nonholonomic Mobile Robot Trajectory Tracking using Hybrid Controller

    Directory of Open Access Journals (Sweden)

    Muhammad Safwan

    2016-04-01

    Full Text Available A control scheme is being presented for the trajectory tracking of a nonholonomic kinematic model of mobile robots. As a kinematic model of mobile robots is nonlinear in nature, therefore, it is controlling is always being a difficult task. Thus, a control hybrid scheme comprises of fuzzy logic and PID (Proportional Integral Derivative is being proposed, in which adaptive gains of PID controller is being tuned by a fuzzy logic controller. Moreover, the effectiveness of this innovative technique is also proved using the simulations by adding model uncertainties and external disturbances in the system. Besides, the fuzzy logic control system is also being compared by the proposed control system. Resultsattained shows that the fuzzy based PID controller drivesimproved results than fuzzy logic controller.

  13. Speed Tracking Control of a Vehicle Robot Driver System Using Multiple Sliding Surface Control Schemes

    Directory of Open Access Journals (Sweden)

    Gang Chen

    2013-02-01

    Full Text Available To overcome the drawbacks of using a traditional proportional-integral-derivative (PID control method for a robot driver system, such as requiring preliminary offline learning, big overshoot and large speed fluctuation, a new method for speed tracking of a robot driver system based on sliding mode control is proposed in this paper. Firstly, the coordinated control model of multiple manipulators for the robot driver is built, which achieved coordinated control of the throttle mechanical leg, clutch mechanical leg, brake mechanical leg and shift mechanical arm for the robot driver. On the basis of this, a speed tracking sliding mode controller for a vehicle robot driver is designed using the method of multiple sliding surfaces design, and the variable structure control laws of throttle and brake are designed respectively, which realize the speed tracking of the given driving test cycle. Experimental results demonstrate that compared with the PID control method, the proposed method can obviously reduce the overshoot of vehicle speed tracking control and greatly improve the accuracy of vehicle speed tracking. The vehicle speed tracking accuracy stays within a tolerance band of ±2 km/h, which meets the requirements of national vehicle test standards. Furthermore, the action of the speed tracking control in the same driving test cycle using the proposed method is consistent, so that the robot driver has good repeatability. Therefore, it can ensure the effectiveness of the vehicle emission test.

  14. A randomised controlled trial of a theory-based intervention to improve sun protective behaviour in adolescents ('you can still be HOT in the shade': study protocol

    Directory of Open Access Journals (Sweden)

    Hawkes Anna L

    2012-01-01

    Full Text Available Abstract Background Most skin cancers are preventable by encouraging consistent use of sun protective behaviour. In Australia, adolescents have high levels of knowledge and awareness of the risks of skin cancer but exhibit significantly lower sun protection behaviours than adults. There is limited research aimed at understanding why people do or do not engage in sun protective behaviour, and an associated absence of theory-based interventions to improve sun safe behaviour. This paper presents the study protocol for a school-based intervention which aims to improve the sun safe behaviour of adolescents. Methods/design Approximately 400 adolescents (aged 12-17 years will be recruited through Queensland, Australia public and private schools and randomized to the intervention (n = 200 or 'wait-list' control group (n = 200. The intervention focuses on encouraging supportive sun protective attitudes and beliefs, fostering perceptions of normative support for sun protection behaviour, and increasing perceptions of control/self-efficacy over using sun protection. It will be delivered during three × one hour sessions over a three week period from a trained facilitator during class time. Data will be collected one week pre-intervention (Time 1, and at one week (Time 2 and four weeks (Time 3 post-intervention. Primary outcomes are intentions to sun protect and sun protection behaviour. Secondary outcomes include attitudes toward performing sun protective behaviours (i.e., attitudes, perceptions of normative support to sun protect (i.e., subjective norms, group norms, and image norms, and perceived control over performing sun protective behaviours (i.e., perceived behavioural control. Discussion The study will provide valuable information about the effectiveness of the intervention in improving the sun protective behaviour of adolescents.

  15. Precise and economic sun position sensor; Ein praeziser und preiswerter Sonnenstandsensor

    Energy Technology Data Exchange (ETDEWEB)

    Haeberle, A.; Luginsland, F.; Zahler, C.; Topor, A. [PSE GmbH, Solar Info Center, Freiburg (Germany); Reetz, C. [Research and Individual Software (RIAP), Freiburg (Germany); Apian-Bennewitz, P. [Pab-Opto, Freiburg (Germany)

    2006-07-01

    We developed a device for quality control and monitoring of sun-tracking systems. Our approach consists of using the long-established shadow principle in combination with commonly available CCD chips. The chips' precision allows for detection accuracy to within well below 1 mrad in relative change of the sun position. First prototypes have been tested successfully. (orig.)

  16. Output tracking control of mobile manipulators based on dynamical sliding-mode control

    Institute of Scientific and Technical Information of China (English)

    WU Yuxiang; FENG Ying; HU Yueming

    2007-01-01

    A dynamical sliding-mode controller is devised to track the output of mobile manipulators. During the investi- gation, firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulators. Then, the system is decomposed into four lower-dimensional subsystems by means of diffeomorphism and nonlinear input transformation. Moreover, a design method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators is proposed. The simulation results indicate that the dynamical sliding-mode controller can not only track the given trajec- tory correctly but also reduce the chattering of sliding-mode control system considerably.

  17. Optimal Vibration Control for Tracked Vehicle Suspension Systems

    Directory of Open Access Journals (Sweden)

    Yan-Jun Liang

    2013-01-01

    Full Text Available Technique of optimal vibration control with exponential decay rate and simulation for vehicle active suspension systems is developed. Mechanical model and dynamic system for a class of tracked vehicle suspension vibration control is established and the corresponding system of state space form is described. In order to prolong the working life of suspension system and improve ride comfort, based on the active suspension vibration control devices and using optimal control approach, an optimal vibration controller with exponential decay rate is designed. Numerical simulations are carried out, and the control effects of the ordinary optimal controller and the proposed controller are compared. Numerical simulation results illustrate the effectiveness of the proposed technique.

  18. Developing The Solar Tracking System for Trough Solar Concentrator

    Directory of Open Access Journals (Sweden)

    Nguyen Huy Bich

    2016-01-01

    Full Text Available The efficiency of the trough solar concentrator strongly depends on the position of its absorber surface with the sunControlling the solar radiation concentrated collectors automatically tracking with the sun plays as the key factor to enhance the energy absorption. An automatic controlling device that can rotating the parabolic trough solar concentrator to the sun is calculated, designed, manufactured, and testing successfully. The experimental results show that the device tracks the sun during the day very well. The sensor has adjusted position of collector good when the intensity of solar radiation changes due to weather.

  19. A Randomised Controlled Trial Using Mobile Advertising to Promote Safer Sex and Sun Safety to Young People

    Science.gov (United States)

    Gold, J.; Aitken, C. K.; Dixon, H. G.; Lim, M. S. C.; Gouillou, M.; Spelman, T.; Wakefield, M.; Hellard, M. E.

    2011-01-01

    Mobile phone text messages (SMS) are a promising method of health promotion, but a simple and low cost way to obtain phone numbers is required to reach a wide population. We conducted a randomised controlled trial with simultaneous brief interventions to (i) evaluate effectiveness of messages related to safer sex and sun safety and (ii) pilot the…

  20. A Randomised Controlled Trial Using Mobile Advertising to Promote Safer Sex and Sun Safety to Young People

    Science.gov (United States)

    Gold, J.; Aitken, C. K.; Dixon, H. G.; Lim, M. S. C.; Gouillou, M.; Spelman, T.; Wakefield, M.; Hellard, M. E.

    2011-01-01

    Mobile phone text messages (SMS) are a promising method of health promotion, but a simple and low cost way to obtain phone numbers is required to reach a wide population. We conducted a randomised controlled trial with simultaneous brief interventions to (i) evaluate effectiveness of messages related to safer sex and sun safety and (ii) pilot the…

  1. Research on Fuzzy Control for Automatic Transmission of Tracked Vehicles

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    A principle of fuzzy control for tracked vehicles is proposed to make its automatic transmission system be able to adapt complex running conditions, and a model of its power train is established to be used in simulation. Based on the fuzzy control method, a fuzzy shift control system composed of a basic shift strategy and a fuzzy modification module is developed to improve the dynamic characteristics and cross-country maneuverability. Simulation results show that the fuzzy shift strategy can improve the shift quality under manifold driving conditions and avoid cycled shift effectively. Therefore,the proposed fuzzy shift strategies are proved to be feasible and practicable.

  2. Biologically inspired neural network controller for an infrared tracking system

    Science.gov (United States)

    Frigo, Janette R.; Tilden, Mark W.

    1999-01-01

    Many biological system exhibit capable, adaptive behavior with a minimal nervous system such as those found in lower invertebrates. Scientists and engineers are studying biological system because these models may have real-world applications. the analog neural controller, herein, is loosely modeled after minimal biological nervous systems. The system consists of the controller and pair of sensor mounted on an actuator. It is implemented with an electrical oscillator network, two IR sensor and a dc motor, used as an actuator for the system. The system tracks an IR target source. The pointing accuracy of this neural network controller is estimated through experimental measurements and a numerical model of the system.

  3. Position and attitude tracking control for a quadrotor UAV.

    Science.gov (United States)

    Xiong, Jing-Jing; Zheng, En-Hui

    2014-05-01

    A synthesis control method is proposed to perform the position and attitude tracking control of the dynamical model of a small quadrotor unmanned aerial vehicle (UAV), where the dynamical model is underactuated, highly-coupled and nonlinear. Firstly, the dynamical model is divided into a fully actuated subsystem and an underactuated subsystem. Secondly, a controller of the fully actuated subsystem is designed through a novel robust terminal sliding mode control (TSMC) algorithm, which is utilized to guarantee all state variables converge to their desired values in short time, the convergence time is so small that the state variables are acted as time invariants in the underactuated subsystem, and, a controller of the underactuated subsystem is designed via sliding mode control (SMC), in addition, the stabilities of the subsystems are demonstrated by Lyapunov theory, respectively. Lastly, in order to demonstrate the robustness of the proposed control method, the aerodynamic forces and moments and air drag taken as external disturbances are taken into account, the obtained simulation results show that the synthesis control method has good performance in terms of position and attitude tracking when faced with external disturbances.

  4. TRACKING CONTROL OF AN UNDERACTUATED GANTRY CRANE USING AN OPTIMAL FEEDBACK CONTROLLER

    Directory of Open Access Journals (Sweden)

    Firooz Bakhtiari-Nejad

    2013-06-01

    Full Text Available Gantry cranes have attracted a great deal of interest in transportation and industrial applications. To increase the effectiveness of gantry cranes, the control of such systems is considered vital. This paper is concerned with tracking the control of an underactuated gantry crane using an optimal feedback controller. The optimal control strategy takes into account a performance index, including integrated time and absolute error criterion. To do this, nonlinear dynamic equations of the system are derived using Lagrange’s Principle. The minimum tracking error of the trolley and the minimum oscillation of the hoisting line are assumed as design parameters, and the best gains of the feedback controller are achieved. Finally, some tracking simulations are performed which demonstrate the capability of the simple proposed method in the optimal tracking control of a gantry crane.

  5. Chapter 6: CPV Tracking and Trackers

    Energy Technology Data Exchange (ETDEWEB)

    Luque-Heredia, Ignacio; Magalhaes, Pedro; Muller, Matthew

    2016-04-15

    This chapter explains the functional requirements of a concentrator photovoltaic (CPV) sun tracker. It derives the design specifications of a CPV tracker. The chapter presents taxonomy of trackers describing the most common tracking architectures, based on the number of axes, their relative position, and the foundation and placing of tracking drives. It deals with the structural issues related to tracker design, mainly related to structural flexure and its impact on the system's acceptance angle. The chapter analyzes the auto-calibrated sun tracking control, by describing the state of the art and its development background. It explores the sun tracking accuracy measurement with a practical example. The chapter discusses tracker manufacturing and tracker field works. It reviews survey of different types of tracker designs obtained from different manufacturers. Finally, the chapter deals with IEC62817, the technical standard developed for CPV sun trackers.

  6. Maximum Power Point Tracking of Photovoltaic System Using Intelligent Controller

    Directory of Open Access Journals (Sweden)

    Swathy C.S

    2013-04-01

    Full Text Available Photovoltaic systems normally use a maximum power point tracking (MPPT technique to continuously give forth the highest probable power to the load when the temperature and solar irradiationchanges occur. This subdues the problem of mismatch between the given load and the solar array. The energy conservation principle is used to obtain small signal model and transfer function. A simulationwork handling with MPPT controller, a DC/DC boost converter feeding a load is achieved. PI controller and fuzzy logic controllers were used as the MPPT controller, which controls the dc/dc converter. Simulations and experimental results showed excellent performance and were used for comparing PI controller and fuzzy logic controller.

  7. FEEDFORWARD CONTROL STRATEGIES FOR TRACKING PERFORMANCE IN MACHINE AXES

    Institute of Scientific and Technical Information of China (English)

    Wei Zhouhong; Schinstock Dale E

    2005-01-01

    Three feedforward (FFD) control techniques for position-servo machine axes are compared. All three FFD controllers are used with two different PID feedback (FBK) controllers. The two different FBK controllers have two different closed-loop bandwidths. They are demonstrated using experimental data from a linear motor test system and from simulations. Laboratory results using the linear motor hardware demonstrate that the velocity & acceleration (V&A) FFD controller improves tracking in all case considered, while the other two FFD controllers actually degrade performance in many cases. Through simulation this degradation is attributed to extreme sensitivity to round off errors. This sensitivity is the result of a complex controller that is implemented outside of the feedback loop.

  8. Transient stability improvement by nonlinear controllers based on tracking

    Energy Technology Data Exchange (ETDEWEB)

    Ramirez, Juan M. [Centro de Investigacion y Estudios Avanzados, Guadalajara, Mexico. Av. Cientifica 1145. Col. El Bajio. Zapopan, Jal. 45015 (Mexico); Arroyave, Felipe Valencia; Correa Gutierrez, Rosa Elvira [Universidad Nacional de Colombia, Sede Medellin. Facultad de Minas, Escuela de Mecatronica (Colombia)

    2011-02-15

    This paper deals with the control problem in multi-machine electric power systems, which represent complex great scale nonlinear systems. Thus, the controller design is a challenging problem. These systems are subjected to different perturbations, such as short circuits, connection and/or disconnection of loads, lines, or generators. Then, the utilization of controllers which guarantee good performance under those perturbations is required in order to provide electrical energy to the loads with admissible stability margins. The proposed controllers are based on a systematic strategy, which calculate nonlinear controllers for generating units in a power plant, both for voltage and velocity regulation. The formulation allows designing controllers in a multi-machine power system without intricate calculations. Results on a power system of the open research indicate the proposition's suitability. The problem is formulated as a tracking problem. The designed controllers may be implemented in any electric power system. (author)

  9. Tracking control of a flexible beam by nonlinear boundary feedback

    Directory of Open Access Journals (Sweden)

    Bao-Zhu Guo

    1995-01-01

    Full Text Available This paper is concerned with tracking control of a dynamic model consisting of a flexible beam rotated by a motor in a horizontal plane at the one end and a tip body rigidly attached at the free end. The well-posedness of the closed loop systems considering the dissipative nonlinear boundary feedback is discussed and the asymptotic stability about difference energy of the hybrid system is also investigated.

  10. Sun exposure and the risk of prostate cancer in the Singapore Prostate Cancer Study: a case-control study.

    Science.gov (United States)

    Chia, Sin-Eng; Wong, Kin-Yoke; Cheng, Christopher; Lau, Weber; Tan, Puay-Hoon

    2012-01-01

    Most of the epidemiology studies on the effects of sun exposure and prostate cancer were conducted among the temperate countries of North America and Europe. Little is known about the influence on Asian populations. The purpose of current study was to evaluate any association of sun exposure with risk of prostate cancer in Chinese, Malays and Indians who reside in the tropics. The Singapore Prostate Cancer Study is a hospital-based case-control study of 240 prostate cancer incident cases and 268 controls conducted in Singapore between April 2007 and May 2009. Detailed information on outdoor activities in the sun, skin colour, sun sensitivity and other possible risk factors were collected in personal interviews. Cases were further classified by Gleason scores and TNM staging. Odds ratios (OR) and 95% confidence intervals (CI) were calculated using unconditional logistic regression analysis, adjusted for age, ethnicity, education, family history of any cancers, BMI and skin colour. We found that prostate cancer risk was increased in subjects with black/dark-brown eyes (OR 5.88, 95%CI 3.17-10.9), darker skin colour e.g. tan/dark brown/black (OR 7.62, 95%CI 3.41-17.0), frequent sunburn in lifetime (OR 4.30, 95%CI 1.7-11.2) and increased general sun exposure in adulthood per week (OR 2.03, 95%CI 1.09-3.81). The increased risk was consistent for high grade tumours and advanced stage prostate cancers. The findings from this study suggest that excessive sun exposure is a risk factor for prostate cancer in Asians.

  11. GPS based Advanced Vehicle Tracking and Vehicle Control System

    Directory of Open Access Journals (Sweden)

    Mashood Mukhtar

    2015-02-01

    Full Text Available Security systems and navigators have always been a necessity of human‟s life. The developments of advanced electronics have brought revolutionary changes in these fields. In this paper, we will present a vehicle tracking system that employs a GPS module and a GSM modem to find the location of a vehicle and offers a range of control features. To complete the design successfully, a GPS unit, two relays, a GSM Modem and two MCU units are used. There are five features introduced in the project. The aim of this project is to remotely track a vehicle‟s location, remotely switch ON and OFF the vehicle‟s ignition system and remotely lock and unlock the doors of the vehicle. An SMS message is sent to the tracking system and the system responds to the users request by performing appropriate actions. Short text messages are assigned to each of these features. A webpage is specifically designed to view the vehicle‟s location on Google maps. By using relay based control concept introduced in this paper, number of control features such as turning heater on/off, radio on/off etc. can be implemented in the same fashion.

  12. Speed tracking and synchronization of multiple motors using ring coupling control and adaptive sliding mode control.

    Science.gov (United States)

    Li, Le-Bao; Sun, Ling-Ling; Zhang, Sheng-Zhou; Yang, Qing-Quan

    2015-09-01

    A new control approach for speed tracking and synchronization of multiple motors is developed, by incorporating an adaptive sliding mode control (ASMC) technique into a ring coupling synchronization control structure. This control approach can stabilize speed tracking of each motor and synchronize its motion with other motors' motion so that speed tracking errors and synchronization errors converge to zero. Moreover, an adaptive law is exploited to estimate the unknown bound of uncertainty, which is obtained in the sense of Lyapunov stability theorem to minimize the control effort and attenuate chattering. Performance comparisons with parallel control, relative coupling control and conventional PI control are investigated on a four-motor synchronization control system. Extensive simulation results show the effectiveness of the proposed control scheme.

  13. Nonlinear control of ships minimizing the position tracking errors

    Directory of Open Access Journals (Sweden)

    Svein P. Berge

    1999-07-01

    Full Text Available In this paper, a nonlinear tracking controller with integral action for ships is presented. The controller is based on state feedback linearization. Exponential convergence of the vessel-fixed position and velocity errors are proven by using Lyapunov stability theory. Since we only have two control devices, a rudder and a propeller, we choose to control the longship and the sideship position errors to zero while the heading is stabilized indirectly. A Virtual Reference Point (VRP is defined at the bow or ahead of the ship. The VRP is used for tracking control. It is shown that the distance from the center of rotation to the VRP will influence on the stability of the zero dynamics. By selecting the VRP at the bow or even ahead of the bow, the damping in yaw can be increased and the zero dynamics is stabilized. Hence, the heading angle will be less sensitive to wind, currents and waves. The control law is simulated by using a nonlinear model of the Japanese training ship Shiojimaru with excellent results. Wind forces are added to demonstrate the robustness and performance of the integral controller.

  14. Seguidor Solar de Dos Ejes para un Horno Solar Two-Axis Sun Tracking System for a Solar Furnace

    OpenAIRE

    Gabriel Villeda; Alejandro Castañeda; José T Vega; Jorge Pineda

    2011-01-01

    Se presenta el diseño y fabricación de un seguidor solar de dos ejes (rotación-elevación), el cual controla un helióstato de un horno solar para la cocción de tabiques de arcilla. El sistema trabaja con motores controlados desde una computadora personal. El algoritmo para el seguidor solar se desarrolló en un lenguaje de programación visual, calcula los ángulos de seguimiento primario y secundario del helióstato y los despliega en una pantalla. El microcontrolador está programado para control...

  15. MICROCONTROLLER BASED SOLAR-TRACKING SYSTEM AND ITS IMPLEMENTATION

    Directory of Open Access Journals (Sweden)

    Okan BİNGÖL

    2006-02-01

    Full Text Available In this paper, a new micro-controller based solar-tracking system is proposed, implemented and tested. The scheme presented here can be operated as independent of the geographical location of the site of setting up. The system checks the position of the sun and controls the movement of a solar panel so that radiation of the sun comes normally to the surface of the solar panel. The developed-tracking system tracks the sun both in the azimuth as well as in the elevation plane. PC based system monitoring facility is also included in the design.

  16. Sun Allergy

    Science.gov (United States)

    ... if you have unusual, bothersome skin reactions after exposure to sunlight. For severe or persistent symptoms, you may need ... m. when the sun is brightest. Avoid sudden exposure to lots of sunlight. Many people have sun allergy symptoms when they ...

  17. Alcohol and Difficulty Conceiving in the SUN Cohort: A Nested Case-Control Study

    Directory of Open Access Journals (Sweden)

    Cristina Lopez-del Burgo

    2015-07-01

    Full Text Available The role of alcohol on fertility remains unclear. We aimed to investigate the association between alcohol and specific alcoholic beverages consumption and the risk of difficulty getting pregnant. We used a case-control study nested within the Seguimiento Universidad de Navarra (SUN cohort, a prospective, dynamic and multipurpose cohort of 21,705 Spanish university graduates, followed biennially with mailed questionnaires. We identified 686 case-control pairs, matched for age and time in the cohort. Cases were women reporting difficulty getting pregnant. Controls did not consult due to difficulty conceiving and had at least one child during follow-up. After adjustment for potential confounders, we found no association between self-reported difficulty getting pregnant and the number of alcoholic beverages consumed per week, (Odds Ratio [OR] > 5 drinks/week vs. none = 1.04, 95% Confidence Interval [CI] = 0.72–1.51. No association between types of alcoholic beverage and difficulty conceiving (OR > 5 drinks of wine/week vs. none = 1.16, 95% CI = 0.72–1.88; OR > 5 drinks of beer/week vs. none = 1.06, 95% CI = 0.82–1.37; OR > 5 drinks of spirits/week vs. none = 1.24, 95% CI = 0.84–1.64 was observed. In conclusion, we found no association between alcohol intake and risk of consulting a physician due to difficulty conceiving. More studies are needed to clearly elucidate the effects of alcohol intake on women’s fertility. In the meantime, recommendations about alcohol intake to couples trying to conceive have to be given cautiously.

  18. Alcohol and Difficulty Conceiving in the SUN Cohort: A Nested Case-Control Study.

    Science.gov (United States)

    Lopez-del Burgo, Cristina; Gea, Alfredo; de Irala, Jokin; Martínez-González, Miguel A; Chavarro, Jorge E; Toledo, Estefania

    2015-08-01

    The role of alcohol on fertility remains unclear. We aimed to investigate the association between alcohol and specific alcoholic beverages consumption and the risk of difficulty getting pregnant. We used a case-control study nested within the Seguimiento Universidad de Navarra (SUN) cohort, a prospective, dynamic and multipurpose cohort of 21,705 Spanish university graduates, followed biennially with mailed questionnaires. We identified 686 case-control pairs, matched for age and time in the cohort. Cases were women reporting difficulty getting pregnant. Controls did not consult due to difficulty conceiving and had at least one child during follow-up. After adjustment for potential confounders, we found no association between self-reported difficulty getting pregnant and the number of alcoholic beverages consumed per week, (Odds Ratio [OR] > 5 drinks/week vs. none = 1.04, 95% Confidence Interval [CI] = 0.72-1.51). No association between types of alcoholic beverage and difficulty conceiving (OR > 5 drinks of wine/week vs. none = 1.16, 95% CI = 0.72-1.88; OR > 5 drinks of beer/week vs. none = 1.06, 95% CI = 0.82-1.37; OR > 5 drinks of spirits/week vs. none = 1.24, 95% CI = 0.84-1.64) was observed. In conclusion, we found no association between alcohol intake and risk of consulting a physician due to difficulty conceiving. More studies are needed to clearly elucidate the effects of alcohol intake on women's fertility. In the meantime, recommendations about alcohol intake to couples trying to conceive have to be given cautiously.

  19. Alcohol and Difficulty Conceiving in the SUN Cohort: A Nested Case-Control Study

    Science.gov (United States)

    Lopez-del Burgo, Cristina; Gea, Alfredo; de Irala, Jokin; Martínez-González, Miguel A.; Chavarro, Jorge E.; Toledo, Estefania

    2015-01-01

    The role of alcohol on fertility remains unclear. We aimed to investigate the association between alcohol and specific alcoholic beverages consumption and the risk of difficulty getting pregnant. We used a case-control study nested within the Seguimiento Universidad de Navarra (SUN) cohort, a prospective, dynamic and multipurpose cohort of 21,705 Spanish university graduates, followed biennially with mailed questionnaires. We identified 686 case-control pairs, matched for age and time in the cohort. Cases were women reporting difficulty getting pregnant. Controls did not consult due to difficulty conceiving and had at least one child during follow-up. After adjustment for potential confounders, we found no association between self-reported difficulty getting pregnant and the number of alcoholic beverages consumed per week, (Odds Ratio [OR] > 5 drinks/week vs. none = 1.04, 95% Confidence Interval [CI] = 0.72–1.51). No association between types of alcoholic beverage and difficulty conceiving (OR > 5 drinks of wine/week vs. none = 1.16, 95% CI = 0.72–1.88; OR > 5 drinks of beer/week vs. none = 1.06, 95% CI = 0.82–1.37; OR > 5 drinks of spirits/week vs. none = 1.24, 95% CI = 0.84–1.64) was observed. In conclusion, we found no association between alcohol intake and risk of consulting a physician due to difficulty conceiving. More studies are needed to clearly elucidate the effects of alcohol intake on women’s fertility. In the meantime, recommendations about alcohol intake to couples trying to conceive have to be given cautiously. PMID:26225997

  20. Non-linear controllers in ship tracking control system

    Institute of Scientific and Technical Information of China (English)

    LESZEK M

    2005-01-01

    The cascade systems which stabilize the transverse deviation of the ship in relation to the set path is presented. The ship's path is determined as a broken line with specified coordinates of way points. Three controllers are used in the system. The main primary controller is the trajectory controller. The set value of heading for the course control system or angular velocity for the turning control system is generated. The course control system is used on the straight line of the set trajectory while the turning controller is used during a change of the set trajectory segment. The characteristics of the non-linear controllers are selected in such a way that the properties of the control system with the rate of turn controller are modelled by the first-order inertia, while the system with the course keeping controller is modelled by a second-order linear term. The presented control system is tested in computer simulation. Some results of simulation tests are presented and discussed.

  1. Decoherence control: A feedback mechanism based on hamiltonian tracking

    CERN Document Server

    Katz, G; Kosloff, R; Katz, Gil; Ratner, Mark; Kosloff, Ronnie

    2006-01-01

    Enviroment - caused dissipation disrupts the hamiltonian evolution of all quantum systems not fully isolated from any bath. We propose and examine a feedback-control scheme to eliminate such dissipation, by tracking the free hamiltonian evolution. We determine a driving-field that maximizes the projection of the actual molecular system onto the freely propagated one. The evolution of a model two level system in a dephasing bath is followed, and the driving field that overcomes the decoherence is calculated. An implementation of the scheme in the laboratory using feedback control is suggested.

  2. Automatic control and tracking of periodic orbits in chaotic systems.

    Science.gov (United States)

    Ando, Hiroyasu; Boccaletti, S; Aihara, Kazuyuki

    2007-06-01

    Based on an automatic feedback adjustment of an additional parameter of a dynamical system, we propose a strategy for controlling periodic orbits of desired periods in chaotic dynamics and tracking them toward the set of unstable periodic orbits embedded within the original chaotic attractor. The method does not require information on the system to be controlled, nor on any reference states for the targets, and it overcomes some of the difficulties encountered by other techniques. Assessments of the method's effectiveness and robustness are given by means of the application of the technique to the stabilization of unstable periodic orbits in both discrete- and continuous-time systems.

  3. Renew the car track control panel programming with SIEMENS

    OpenAIRE

    Adhikari, Jeevan

    2013-01-01

    This research examines use of automation controllers for the solution of automation problem. The automated car track at the HAMK automation la-boratory was used as an example for implementation. The commissioner of the thesis was the Department of Automation, HAMK University of Applied Sciences. It is located in Häme region in southern Finland having 7 campuses in different locations. The objective of the study was to build a PLC program that could control the speed of the car. The other ...

  4. Maximum Power Point Tracking Based on Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Nimrod Vázquez

    2015-01-01

    Full Text Available Solar panels, which have become a good choice, are used to generate and supply electricity in commercial and residential applications. This generated power starts with the solar cells, which have a complex relationship between solar irradiation, temperature, and output power. For this reason a tracking of the maximum power point is required. Traditionally, this has been made by considering just current and voltage conditions at the photovoltaic panel; however, temperature also influences the process. In this paper the voltage, current, and temperature in the PV system are considered to be a part of a sliding surface for the proposed maximum power point tracking; this means a sliding mode controller is applied. Obtained results gave a good dynamic response, as a difference from traditional schemes, which are only based on computational algorithms. A traditional algorithm based on MPPT was added in order to assure a low steady state error.

  5. Index Tracking with Control on the Number of Assets

    Directory of Open Access Journals (Sweden)

    Leonardo Riegel Sant'Anna

    2014-06-01

    Full Text Available Index tracking is a passive investment strategy, which aims at generating portfolios to reproduce a specific market index’s performance. This article proposes a model for a index tracking problem with control on the number of assets in the portfolio, which corresponds to a restriction in transaction costs. The model is applied to Ibovespa (sample: 67 stocks from January/2009 to July/2012. Portfolios were formed without limiting the amount of stocks and limiting this amount to 40, 30 and 20 stocks, with rebalancing periods of 20, 40 and 60 trading days. The results were satisfactory especially for the 60 days rebalancing period, in which transaction costs become lower due to the longer rebalancing period. We also verified that changes in Cplex parameters didn’t influence the results especially in relation to the computational times. Therefore, we also conclude about the need of using heuristic approaches to form portfolios with smaller amounts of assets.

  6. Backstepping tracking control for nonlinear time-delay systems

    Institute of Scientific and Technical Information of China (English)

    Chen Weisheng; Li Junmin

    2006-01-01

    Two design approaches of state feedback and output feedback tracking controllers are proposed for a class of strict feedback nonlinear time-delay systems by using backstepping technique. When the states of system cannot be observed, the time-delay state observer is designed to estimate the system states. Domination method is used to deal with nonlinear time-delay function under the assumption that the nonlinear time-delay functions of systems satisfy Lipschitz condition. The global asymptotical tracking of the references signal is achieved and the bound of all signals of the resultant closed-loop system is also guaranteed. By constructing a Lyapunov-Krasoviskii functional, the stability of the closed-loop system is proved. The feasibility of the proposed approach is illustrated by a simulation example.

  7. Tracking control for first-order multi-agent systems

    Institute of Scientific and Technical Information of China (English)

    Yang LIU; Yingmin JIA

    2008-01-01

    In this paper,the conventional tracking control problem is expanded to first-order multi-agent systerns,which can be solved by directly guiding any agent in the group.The following three kinds of desired motions are considered for all agents to track:1)stillness in space,2)variable motion with known acceleration,3) variable motion with partly unknown acceleration.Specifically,fixed networks with time delays and switching networks without delays are both considered in case 1).Switching networks with and without time delays are both studied in case 2),while for 3),switching networks without delays are mainly investigated.A numerical simulation example is included to illustrate the results.

  8. Real-time Non-linear Target Tracking Control of Wheeled Mobile Robots

    Institute of Scientific and Technical Information of China (English)

    YU Wenyong

    2006-01-01

    A control strategy for real-time target tracking for wheeled mobile robots is presented. Using a modified Kalman filter for environment perception, a novel tracking control law derived from Lyapunov stability theory is introduced. Tuning of linear velocity and angular velocity with mechanical constraints is applied. The proposed control system can simultaneously solve the target trajectory prediction, real-time tracking, and posture regulation problems of a wheeled mobile robot. Experimental results illustrate the effectiveness of the proposed tracking control laws.

  9. Stabilization and tracking control of X-Z inverted pendulum with sliding-mode control.

    Science.gov (United States)

    Wang, Jia-Jun

    2012-11-01

    X-Z inverted pendulum is a new kind of inverted pendulum which can move with the combination of the vertical and horizontal forces. Through a new transformation, the X-Z inverted pendulum is decomposed into three simple models. Based on the simple models, sliding-mode control is applied to stabilization and tracking control of the inverted pendulum. The performance of the sliding mode control is compared with that of the PID control. Simulation results show that the design scheme of sliding-mode control is effective for the stabilization and tracking control of the X-Z inverted pendulum.

  10. Adaptive tracking control for double-pendulum overhead cranes subject to tracking error limitation, parametric uncertainties and external disturbances

    Science.gov (United States)

    Zhang, Menghua; Ma, Xin; Rong, Xuewen; Tian, Xincheng; Li, Yibin

    2016-08-01

    In a practical application, overhead cranes are usually subjected to system parameter uncertainties, such as uncertain payload masses, cable lengths, frictions, and external disturbances, such as air resistance. Most existing crane control methods treat the payload swing as that of a single-pendulum. However, certain types of payloads and hoisting mechanisms result in double-pendulum dynamics. The double-pendulum effects will make most existing crane control methods fail to work normally. Therefore, an adaptive tracking controller for double-pendulum overhead cranes subject to parametric uncertainties and external disturbances is developed in this paper. The proposed adaptive tracking control method guarantees that the trolley tracking error is always within a prior set of boundary conditions and converges to zero rapidly. The asymptotic stability of the closed-loop system's equilibrium point is assured by Lyapunov techniques and Barbalat's Lemma. Simulation results show that the proposed adaptive tracking control method is robust with respect to system parametric uncertainties and external disturbances.

  11. Neural net robot controller with guaranteed tracking performance.

    Science.gov (United States)

    Lewis, F L; Liu, K; Yesildirek, A

    1995-01-01

    A neural net (NN) controller for a general serial-link robot arm is developed. The NN has two layers so that linearity in the parameters holds, but the "net functional reconstruction error" and robot disturbance input are taken as nonzero. The structure of the NN controller is derived using a filtered error/passivity approach, leading to new NN passivity properties. Online weight tuning algorithms including a correction term to backpropagation, plus an added robustifying signal, guarantee tracking as well as bounded NN weights. The NN controller structure has an outer tracking loop so that the NN weights are conveniently initialized at zero, with learning occurring online in real-time. It is shown that standard backpropagation, when used for real-time closed-loop control, can yield unbounded NN weights if (1) the net cannot exactly reconstruct a certain required control function or (2) there are bounded unknown disturbances in the robot dynamics. The role of persistency of excitation is explored.

  12. Prototype of a control board solar tracking mechanism on a shaft; Prototipo de una tarjeta de control del mecanismo de seguimiento solar en un eje

    Energy Technology Data Exchange (ETDEWEB)

    Ramos Berumen, Carlos; Ramirez Benitez, Juan Rafael; Lopez Perez, Manuel de Jesus; Beltran Adan, Jose; Lagunas Mendoza, Javier [Instituto de Investigaciones Electricas, Cuernavaca, Morelos (Mexico)

    2010-11-15

    A solar concentrator prototype of Parabolic Trough (PT) for solar process heat generation has been designed, manufactured and put into operation by the Instituto de Investigaciones Electricas. By means of a sun tracking mechanism controlled by an automatic device, the PT is moving from East to West during the day then this way the solar energy is focused continually over the lineal receiver. Such movement is reached thanks to the electronic module fitted with special software. In this paper, the design of an electronic module based on calculation algorithm of the sun position along the day and over the year which controls the PT sun tracking is presented. The main purpose of the development is to integrate a control system which is using the algorithm of low cost (it was tested in a commercial system with success). [Spanish] El Instituto de Investigaciones Electricas (IIE) ha disenado, fabricado y puesto en operacion un prototipo de concentrador solar de canal parabolico para la generacion de calor de proceso. La tecnologia termosolar a concentracion de canal parabolica mantiene el concentrador moviendose de este a oeste durante el dia, enfocando continuamente el sol en el receptor lineal, mediante un mecanismo y un control automatico que permite el seguimiento aparente del sol. Se ha desarrollado el software para el control del mecanismo de seguimiento solar. En este articulo se presenta el diseno de un modulo electronico que controla el mecanismo de seguimiento solar de un canal parabolico, el cual tiene sus bases en un algoritmo que calcula la posicion del sol durante todo el dia y a lo largo del ano. El proposito principal es integrar un sistema de control de bajo costo, que utilice el algoritmo desarrollado por el IIE, el cual fue probado con exito en un sistema comercial para el seguimiento solar de un canal parabolico.

  13. Fabrication of large-format holograms in dichromated gelatin films for sun control and solar concentrators

    Science.gov (United States)

    Stojanoff, Christo G.; Schuette, Hartmut; Schulat, Jochen; Kubiza, Ralf; Froening, Philipp

    1997-05-01

    Dichromated gelatin layers (DCG) facilitate the design and fabrication of large format holographic optical elements (HOE) of high optical quality and diffraction efficiency. The HOEs are used for the fabrication of spectrally selective solar concentrators and as glazing materials for daylighting and passive sun control in buildings. The suitability of HOEs in these applications depends upon the achievable bandwidth, operating central wavelength, dispersion characteristics and low absorption losses. The HOEs are fabricated on glass or plastic film substrata in a DCG-layer of 5 to 30 micrometer thickness. The layer thickness and the gradient ar precisely controlled during the layer deposition and drying (plus or minus 1 micrometer and 0.1 micrometer/cm for standard layer of 10 micrometer thickness). The production process is based on the fabrication of high quality master holograms that are copied by dry copying procedure. The current manufacturing facilities allow the fabrication of 1 m2 HOEs on glass substratum and a continuous production of HOEs on plastic substratum with a width of 20 cm and length of 50 m. This technology is also used to fabricate holograms for instrumentation optics in metrology and for optical interconnects in multichip modules. The fabricated HOEs exhibit the desired operational characteristics: high diffraction efficiency, small Braggshift, large bandwidth and a central wavelength that may be freely selected over a wide spectral range. In this paper, we present the results from the experimental investigation and theoretical analysis of large number of holograms of the transmissive and reflective types. We discuss the attained angular and wavelength spectra, bandwidths, wavelength shifts and the diffraction efficiencies as functions of the holographic parameters. The HOEs are made for technical applications and are designed to operate in the 300 nm - 1500 m spectral range.

  14. Damping Force Tracking Control of MR Damper System Using a New Direct Adaptive Fuzzy Controller

    Directory of Open Access Journals (Sweden)

    Xuan Phu Do

    2015-01-01

    Full Text Available This paper presents a new direct adaptive fuzzy controller and its effectiveness is verified by investigating the damping force tracking control of magnetorheological (MR fluid based damper (MR damper in short system. In the formulation of the proposed controller, a model of interval type 2 fuzzy controller is combined with the direct adaptive control to achieve high performance in vibration control. In addition, H∞ (H infinity tracking technique is used in building a model of the direct adaptive fuzzy controller in which an enhanced iterative algorithm is combined with the fuzzy model. After establishing a closed-loop control structure to achieve high control performance, a cylindrical MR damper is adopted and damping force tracking results are obtained and discussed. In addition, in order to demonstrate the effectiveness of the proposed control strategy, two existing controllers are modified and tested for comparative work. It has been demonstrated from simulation and experiment that the proposed control scheme provides much better control performance in terms of damping force tracking error. This leads to excellent vibration control performance of the semiactive MR damper system associated with the proposed controller.

  15. Design and performance comparison of fuzzy logic based tracking controllers

    Science.gov (United States)

    Lea, Robert N.; Jani, Yashvant

    1992-01-01

    Several camera tracking controllers based on fuzzy logic principles have been designed and tested in software simulation in the software technology branch at the Johnson Space Center. The fuzzy logic based controllers utilize range measurement and pixel positions from the image as input parameters and provide pan and tilt gimble rate commands as output. Two designs of the rulebase and tuning process applied to the membership functions are discussed in light of optimizing performance. Seven test cases have been designed to test the performance of the controllers for proximity operations where approaches like v-bar, fly-around and station keeping are performed. The controllers are compared in terms of responsiveness, and ability to maintain the object in the field-of-view of the camera. Advantages of the fuzzy logic approach with respect to the conventional approach have been discussed in terms of simplicity and robustness.

  16. Robust Task Space Trajectory Tracking Control of Robotic Manipulators

    Science.gov (United States)

    Galicki, M.

    2016-08-01

    This work deals with the problem of the accurate task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the end-effector. Furthermore, the movement is to be accomplished in such a way as to reduce both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we propose a class of chattering-free robust controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

  17. Approximate Dynamic Programming in Tracking Control of a Robotic Manipulator

    Directory of Open Access Journals (Sweden)

    Marcin Szuster

    2016-02-01

    Full Text Available This article focuses on the implementation of an approximate dynamic programming algorithm in the discrete tracking control system of the three-degrees of freedom Scorbot-ER 4pc robotic manipulator. The controlled system is included in an articulated robots group which uses rotary joints to access their work space. The main part of the control system is a dual heuristic dynamic programming algorithm that consists of two structures designed in the form of neural networks: an actor and a critic. The actor generates the suboptimal control law while the critic approximates the difference of the value function from Bellman’s equation with respect to the state. The residual elements of the control system are the PD controller, the supervisory term and an additional control signal. The structure of the supervisory term derives from the stability analysis performed using the Lyapunov stability theorem. The control system works online, the neural networks’ weights-adaptation procedure is performed in every iteration step, and the neural networks’ preliminary learning process is not required. The performance of the control system was verified by a series of computer simulations and experiments performed using the Scorbot-ER 4pc robotic manipulator.

  18. Processing Control Information in a Nominal Control Construction: An Eye-Tracking Study

    Science.gov (United States)

    Kwon, Nayoung; Sturt, Patrick

    2016-01-01

    In an eye-tracking experiment, we examined the processing of the nominal control construction. Participants' eye-movements were monitored while they read sentences that included either giver control nominals (e.g. "promise" in "Luke's promise to Sophia to photograph himself") or recipient control nominals (e.g. "plea"…

  19. Processing Control Information in a Nominal Control Construction: An Eye-Tracking Study

    Science.gov (United States)

    Kwon, Nayoung; Sturt, Patrick

    2016-01-01

    In an eye-tracking experiment, we examined the processing of the nominal control construction. Participants' eye-movements were monitored while they read sentences that included either giver control nominals (e.g. "promise" in "Luke's promise to Sophia to photograph himself") or recipient control nominals (e.g. "plea"…

  20. Fuzzy Adaptive Control for Trajectory Tracking of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Saeed Nakhkoob

    2014-01-01

    Full Text Available In this paper, the problem of the position and attitude tracking of an autonomous underwater vehicle (AUV in the horizontal plane, under the presence of ocean current disturbances is discussed. The effect of the gradual variation of the parameters is taken into account. The effectiveness of the adaptive controller is compared with a feedback linearization method and fuzzy gain control approach. The proposed strategy has been tested through simulations. Also, the performance of the propos-ed method is compared with other strategies given in some other studies. The boundedness and asymptotic converge-nce properties of the control algorithm and its semi-global stability are analytically proven using Lyapunov stability theory and Barbalat’s lemma.

  1. [Haptic tracking control for minimally invasive robotic surgery].

    Science.gov (United States)

    Xu, Zhaohong; Song, Chengli; Wu, Wenwu

    2012-06-01

    Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.

  2. Signal differentiation in position tracking control of dc motors

    Science.gov (United States)

    Beltran-Carbajal, F.; Valderrabano-Gonzalez, A.; Rosas-Caro, J. C.

    2015-01-01

    An asymptotic differentiation approach with respect to time is used for on-line estimation of velocity and acceleration signals in controlled dc motors. The attractive feature of this differentiator of signals is that it does not require any system mathematical model, which allows its use in engineering systems that require the signal differentiation for its control, identification, fault detection, among other applications. Moreover, it is shown that the differentiation approach can be applied for output signals showing a chaotic behavior. In addition a differential flatness control scheme with additional integral compensation of the output error is proposed for tracking tasks of position reference trajectories for direct current electric motors using angular position measurements only.

  3. Tracking local control of a parabolic trough collector; Control local de Seguimiento cilindro parabolico ACE 20

    Energy Technology Data Exchange (ETDEWEB)

    Ajona Maeztu, J.I.; Alberdi Primicia, J.; Gamero Aranda, E.; Blanco, J.

    1991-12-31

    In the local control, the sun position related to the trough collector is measured by two photo-resistors. the provided electronic signal is then compared with reference levels in order to get a set of 8 logical signals which form a byte. This byte and the commands issued by a programmable controller are connected to the inputs of a P.R.O.M. memory which is programmed with the logical ecuations of the control system. the memory output lines give the control commands of the parabolic trough collector motor. (author)

  4. Tracking local control of a parabolic trough collector. Control local de Seguimiento cilindro parabolico ACE 20

    Energy Technology Data Exchange (ETDEWEB)

    Ajona Maeztu, J.I.; Alberdi Primicia, J.; Gamero Aranda, E.; Blanco, J.

    1991-01-01

    In the local control, the sun position related to the trough collector is measured by two photo-resistors. the provided electronic signal is then compared with reference levels in order to get a set of 8 logical signals which form a byte. This byte and the commands issued by a programmable controller are connected to the inputs of a P.R.O.M. memory which is programmed with the logical ecuations of the control system. the memory output lines give the control commands of the parabolic trough collector motor. (author)

  5. Tracking local control of a parabolic trough collector; Control local de seguimiento cilindro parabolico ACE20

    Energy Technology Data Exchange (ETDEWEB)

    Ajona, J.I.; Alberdi, J.; Gamero, E.; Blanco, J.

    1992-07-01

    In the local control, the sun position related to the trough collector is measured by two photo-resistors. The provided electronic signal is then compared with reference levels in order to get a set of B logical signals which form a byte. This byte and the commands issued by a programmable controller are connected to the inputs of o P.R.O.M. memory which is programmed with the logical equations of the control system. The memory output lines give the control command of the parabolic trough collector motor. (Author)

  6. The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

    Directory of Open Access Journals (Sweden)

    Dewei Zhang

    2014-01-01

    Full Text Available A reliable nonlinear dynamic model of the quadrotor is presented. The nonlinear dynamic model includes actuator dynamic and aerodynamic effect. Since the rotors run near a constant hovering speed, the dynamic model is simplified at hovering operating point. Based on the simplified nonlinear dynamic model, the PID controllers with feedback linearization and feedforward control are proposed using the backstepping method. These controllers are used to control both the attitude and position of the quadrotor. A fully custom quadrotor is developed to verify the correctness of the dynamic model and control algorithms. The attitude of the quadrotor is measured by inertia measurement unit (IMU. The position of the quadrotor in a GPS-denied environment, especially indoor environment, is estimated from the downward camera and ultrasonic sensor measurements. The validity and effectiveness of the proposed dynamic model and control algorithms are demonstrated by experimental results. It is shown that the vehicle achieves robust vision-based hovering and moving target tracking control.

  7. The human operator in manual preview tracking /an experiment and its modeling via optimal control/

    Science.gov (United States)

    Tomizuka, M.; Whitney, D. E.

    1976-01-01

    A manual preview tracking experiment and its results are presented. The preview drastically improves the tracking performance compared to zero-preview tracking. Optimal discrete finite preview control is applied to determine the structure of a mathematical model of the manual preview tracking experiment. Variable parameters in the model are adjusted to values which are consistent to the published data in manual control. The model with the adjusted parameters is found to be well correlated to the experimental results.

  8. Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Yi Zuo

    2008-01-01

    Full Text Available We address the problem of robust tracking control using a PD-plus-feedforward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base. In this way, the prior knowledge of the upper bound of the system uncertainties does need not to be required. Moreover, chattering can be effectively eliminated, and asymptotic error convergence can be guaranteed. Numerical simulations and experiments of two-DOF rigid robots are presented to show effectiveness of the proposed scheme.

  9. Adaptive trajectory tracking control of two-wheeled self-balance robot

    Institute of Scientific and Technical Information of China (English)

    Qin Yong; Zang Xizhe; Wang Xiaoyu; Li Tian; Zhao Jie

    2009-01-01

    Wheeled mobile robot is one of the well-known nonholonomic systems. A two-wheeled self-balance robot is taken as the research objective. This paper carried out a detailed force analysis of the robot and established a non-linear dynamics model. An adaptive tracking controller for the kinematic model of a nonholonomic mobile robot with unknown parameters is also proposed. Using control Lyapunov function (CLF), the controller's global asymptotic stability has been proven. The adaptive trajectory tracking controller decreases the disturbance in the course of tracking control and enhances the real-time control characteristics. The simulation result indicated that the wheeled mobile robot tracking can be effectively controlled.

  10. Aztec Suns

    Science.gov (United States)

    Petersen, Hugh

    2010-01-01

    The Aztec Sun Stone is a revered Mexican artifact. It is said to be perhaps the most famous symbol of Mexico, besides its flag. It primarily depicts the four great disasters that led to the migration of the Mexica people to modern-day Mexico City. The Aztec Sun Stone also contains pictographs depicting the way the Mexica measured time, and was…

  11. Aztec Suns

    Science.gov (United States)

    Petersen, Hugh

    2010-01-01

    The Aztec Sun Stone is a revered Mexican artifact. It is said to be perhaps the most famous symbol of Mexico, besides its flag. It primarily depicts the four great disasters that led to the migration of the Mexica people to modern-day Mexico City. The Aztec Sun Stone also contains pictographs depicting the way the Mexica measured time, and was…

  12. Fuzzy Control of Model Travel Tracking for Vehicle Semi-Active Suspension

    Institute of Scientific and Technical Information of China (English)

    GUAN Ji-fu; WU Yun-peng; GU Liang; HUANG Hua

    2006-01-01

    The control strategy of the model travel tracking for the vehicle suspension system is presented based on analyzing the responses of the vehicle suspension travel. A fuzzy control system of vehicle suspension is designed, in which the suspension travel output of the adaptive LQG control system is taken as the tracking objective. The simulation results prove that the suspension travel and vertical acceleration can be tracked simultaneously with the simple fuzzy controller,and the tracking effect of fuzzy control is better than that of the PID controller.

  13. Discovery Mondays "Controlling the accelerators: tracking the protons"

    CERN Multimedia

    2007-01-01

    Le Centre de contrôle des accélérateurs du CERN.Like a train of particles that picks up speed every time it passes a set of points, by the time they collide the protons and ions in the LHC will have followed their path through the six stages of the CERN accelerator complex, picking up speed at each stage. Operating the controls of this huge complex designed to accelerate the infinitesimally small are its peerless controllers. From the CERN Control Centre, they will be on duty day and night to accelerate the "wagon-loads" of particles, ensuring that they stay on track and lining them up for head-on collisions. At the next Discovery Monday you will discover the path taken by the particles through the accelerator chain. You will gain an insight into the complex work performed by those controlling the particles and learn more about the CERN accelerator complex and its Control Centre. Hop on board for a speed-of-light tour of the C...

  14. Trajectory Tracking Control for a GMM Actuator Based on a Heuristic ILC Method

    Institute of Scientific and Technical Information of China (English)

    SONG Zhao-qing; ZHOU Shao-lei; SHI Xian-jun

    2006-01-01

    A heuristic iterative learning control (ILC) method is presented and applied to the trajectory tracking control of a giant magnetostrictive material (GMM) actuator. A GMM actuator is used as experimental equipment for micro-displacement trajectory tracking control. The advantage of the presented approach lies in quitting the model of the GMM actuator. The experimental results attest to the high efficiency of the presented method for the micro-displacement trajectory tracking control.

  15. A Sun Tracking System for the Focusing Type Photovoltaic Power Generation%聚光型光伏发电的太阳能定位和跟踪系统

    Institute of Scientific and Technical Information of China (English)

    邓滔; 王倩怡; 付有; 马龙; 魏宏魁

    2012-01-01

    在资源紧缺的今天,太阳能以它恒定的来源和高强的辐射能量,日渐成为资源利用的首要选择。聚光型光伏发电的基本原理是采用带有菲尼尔透镜的太阳能电池板,利用图像采集传感器,拍摄参照物的太阳影子长度,并以与垂直投影做出的比较测出太阳的偏转角度,通过高速控制芯片,根据对采集信息的分析,控制传动机构调节太阳能电池板的偏转角度,实现对太阳的定位和跟踪,从而实现太阳能的高效采集。%Nowadays, the resources are precious. Solar energy, with its constant source and high strengthen radiation energy, has become the first choice of resources utility. The basic principle of the focusing type photovoltaic power generation is : ( 1 ) using the so- lar panels with Philip Neil lens, (2) photographing the length of the reference shadow with image acquisition sensor and comparing it with vertical projection to measure the defection angle, (3) controlling the transmission mechanism to adjust the defection angle of solar panels through the high-speed-control chip and the analysis of gathering information, (4) realizing the locating and tracking of the sun, and finally reaching the goal of efficient acquisition of solar energy.

  16. Solar Automatic Tracking Double Fuzzy Control System Based on ARM%基于ARM的太阳自动跟踪双模糊控制系统

    Institute of Scientific and Technical Information of China (English)

    刘景艳; 李玉东; 杨晓邦

    2012-01-01

    针对太阳自动跟踪系统采用常规的PID控制器存在着跟踪精度低,超调量大等缺点,提出了一种基于ARM的太阳自动跟踪双模糊控制系统的设计方案;以32位ARM嵌入式微处理器为核心,采用光电跟踪和太阳运动轨迹跟踪相结合的混合跟踪模式;在光电跟踪模式下.采用模糊控制;在太阳运动轨迹跟踪模式下,采用模糊PID分段式控制,并依据光强的大小自动切换控制器;采用两个同样规格的太阳能电池板,分别采用固定安装和太阳自动跟踪系统测试太阳能电池板的采光强度;实验结果表明,该系统具有较高的跟踪精度,实现了对太阳全天候的跟踪,有效地提高了光电转换效率.%The solar automatic tracking system adopting the conventional PID controller has low tracking precision and big overshoot. The solar automatic tracking double fuzzy control system based on ARM is put forward. Embedded microcontroller 32-bit ARM processor is the core. A kind of mixed tracking mode is adopted, and it combines photoelectric tracking mode and solar trajectory tracking mode. The double fuzzy control method is presented, the fuzzy control method is adopted in photoelectric tracking mode, and in solar trajectory tracking mode, the fuzzy PID segmented tracking control method is put forward. And the controller can be automatically switched control mode according to light intensity. The fixed installation and the automatic tracking system are respectively used to test the solar panels daylighting strength. The experimental results show that the solar automatic tracking system is possessed of high tracking precision, realizes the sun round-the-clock tracking and effectively improves the photoelectric conversion efficiency.

  17. Observer-based tracking controller design for networked predictive control systems with uncertain Markov delays

    Science.gov (United States)

    Zhang, Hui; Shi, Yang; Wang, Junmin

    2013-10-01

    This paper is concerned with a tracking controller design problem for discrete-time networked predictive control systems. The control law used here is a combined state-feedback control and integral control. Since not all the states are available in practice, a local Luenberger observer is utilised to estimate the state vector. The measured output and estimated state vector are packed together and transmitted to the tracking controller via a communication channel with a limited capacity. Meanwhile, the control signal is also transmitted through a communication network.Network-induced delays on both links are considered for the signal transmission and modelled by Markov chains. Moreover, it is assumed that the elements in Markov transition matrices are subject to uncertainties. In order to fully compensate for network-induced delays, the controller generates a sequence of control signals which are dependent on each possible delay in the feedforward channel. By taking the augmentation twice, we obtain delay-free stochastic closed-loop systems and the controlled output is chosen as the tracking error. Sufficient conditions are provided for the energy-to-peak performance of the closed-loop systems. The feedback gains of the controller can be derived by solving a minimisation problem. Two examples are illustrated to demonstrate the effectiveness of the proposed design method.

  18. Evolutionary tracks and isochrones for low- and intermediate-mass stars from 0.15 to 7 M$_sun$, and from Z=0.0004 to 0.03

    CERN Document Server

    Girardi, L; Bertelli, G; Chiosi, C; Girardi, Leo; Bressan, Alessandro; Bertelli, Gianpaolo; Chiosi, Cesare

    2000-01-01

    We present a large grid of stellar evolutionary tracks, which are suitable to modelling star clusters and galaxies by means of population synthesis. The tracks are presented for the initial chemical compositions [Z=0.0004, Y=0.23], [Z=0.001, Y=0.23], [Z=0.004, Y=0.24], [Z=0.008, Y=0.25], [Z=0.019, Y=0.273] (solar composition), and [Z=0.03, Y=0.30]. They are computed with updated opacities and equation of state, and a moderate amount of convective overshoot. The range of initial masses goes from 0.15 M_sun to 7 M_sun, and the evolutionary phases extend from the zero age main sequence (ZAMS) till either the thermally pulsing AGB regime or carbon ignition. We also present an additional set of models with solar composition, computed using the classical Schwarzschild's criterion for convective boundaries. From all these tracks, we derive the theoretical isochrones in the Johnson-Cousins UBVRIJHK broad-band photometric system.

  19. Velocity Tracking Control of Wheeled Mobile Robots by Iterative Learning Control

    Directory of Open Access Journals (Sweden)

    Xiaochun Lu

    2016-05-01

    Full Text Available This paper presents an iterative learning control (ILC strategy to resolve the trajectory tracking problem of wheeled mobile robots (WMRs based on dynamic model. In the previous study of WMRs’ trajectory tracking, ILC was usually applied to the kinematical model of WMRs with the assumption that desired velocity can be tracked immediately. However, this assumption cannot be realized in the real world at all. The kinematic and dynamic models of WMRs are deduced in this chapter, and a novel combination of D-type ILC algorithm and dynamic model of WMR with random bounded disturbances are presented. To analyze the convergence of the algorithm, the method of contracting mapping, which shows that the designed controller can make the velocity tracking errors converge to zero completely when the iteration times tend to infinite, is adopted. Simulation results show the effectiveness of D-type ILC in the trajectory tracking problem of WMRs, demonstrating the effectiveness and robustness of the algorithm in the condition of random bounded disturbance. A comparative study conducted between D-type ILC and compound cosine function neural network (NN controller also demonstrates the effectiveness of the ILC strategy.

  20. Velocity Tracking Control of Wheeled Mobile Robots by Iterative Learning Control

    Directory of Open Access Journals (Sweden)

    Xiaochun Lu

    2016-05-01

    Full Text Available This paper presents an iterative learning control (ILC strategy to resolve the trajectory tracking problem of wheeled mobile robots (WMRs based on dynamic model. In the previous study of WMRs’ trajectory tracking, ILC was usually applied to the kinematical model of WMRs with the assumption that desired velocity can be tracked immediately. However, this assumption cannot be realized in the real world at all. The kinematic and dynamic models of WMRs are deduced in this chapter, and a novel combination of D-type ILC algorithm and dynamic model of WMR with random bounded disturbances are presented. To analyze the convergence of the algorithm, the method of contracting mapping, which shows that the designed controller can make the velocity tracking errors converge to zero completely when the iteration times tend to infinite, is adopted. Simulation results show the effectiveness of Dtype ILC in the trajectory tracking problem of WMRs, demonstrating the effectiveness and robustness of the algorithm in the condition of random bounded disturbance. A comparative study conducted between D-type ILC and compound cosine function neural network (NN controller also demonstrates the effectiveness of the ILC strategy.

  1. Robust Tracking Control of Robot Manipulators Using Only Joint Position Measurements

    Directory of Open Access Journals (Sweden)

    Ancai Zhang

    2013-01-01

    Full Text Available This paper concerns the tracking control of a robot manipulator with unknown uncertainties and disturbances. It presents a new control method that uses only joint position measurements to design a tracking controller. The controller has two parts. One is based on a feedback linearization technique; it makes the nominal model of a manipulator asymptotically track a desired trajectory. The other is based on the idea of equivalent input disturbance (EID; it compensates for uncertainties and disturbances. Together they enable a robot manipulator to precisely track the desired trajectory. The new control algorithm is applied to a two-link robot manipulator, and simulation results demonstrate the validity of this method.

  2. Hybrid-mode Impedance Control for Position/force Tracking in Motor-system Rehabilitation

    Directory of Open Access Journals (Sweden)

    Youngwoo Kim

    2015-06-01

    Full Text Available This paper proposes a new robot controller for motor-system rehabilitation. The proposed controller simultaneously realizes rehabilitation motion tracking and force generation, as predefined through a musculoskeletal model-based optimization process. We introduce control parameters of weighted control action priorities for the motion-tracking and force generation tasks, based on the position-tracking error. With the weighted control action priorities, the robot accords higher priority to motion tracking at the robot end point when the position-tracking error is larger than a threshold value, and to force generation when the position-tracking error is smaller than a threshold value. Smooth motion trajectory has to be designed and applied in robot-based rehabilitation. Through simulations and experimental results, we show the usefulness of the proposed control method.

  3. Robust Fault-Tolerant Tracking Control for Nonlinear Networked Control System: Asynchronous Switched Polytopic Approach

    Directory of Open Access Journals (Sweden)

    Chaoyang Dong

    2015-01-01

    Full Text Available This paper is concerned with the robust fault-tolerant tracking control problem for networked control system (NCS. Firstly, considering the locally overlapped switching law widely existed in engineering applications, the NCS is modeled as a locally overlapped switched polytopic system to reduce designing conservatism and solving complexity. Then, switched parameter dependent fault-tolerant tracking controllers are constructed to deal with the asynchronous switching phenomenon caused by the updating delays of the switching signals and weighted coefficients. Additionally, the global uniform asymptotic stability in the mean (GUAS-M and desired weighted l2 performance are guaranteed by combining the switched parameter dependent Lyapunov functional method with the average dwell time (ADT method, and the feasible conditions for the fault-tolerant tracking controllers are obtained in the form of linear matrix inequalities (LMIs. Finally, the performance of the proposed approach is verified on a highly maneuverable technology (HiMAT vehicle’s tracking control problem. Simulation results show the effectiveness of the proposed method.

  4. The Control System for the CMS Strip Tracking Detector

    CERN Document Server

    Fahrer, Manuel; Chen, Jie; Dierlamm, Alexander; Frey, Martin; Masetti, Lorenzo; Militaru, Otilia; Shah, Yousaf; Stringer, Robert; Tsirou, Andromachi

    2008-01-01

    The Tracker of the CMS silicon strip tracking detector covers a surface of 206 m2. 9648128 channels are available on 75376 APV front-end chips on 15232 modules, built of 24328 silicon sensors. The power supply of the detector modules is split up in 1944 power supplies with two low voltage for front end power and two high voltage channels each for the bias voltage of the silicon sensors. In addition 356 low voltage channels are needed to power the control chain. The tracker will run at -20°C at low relative humidity for at least 10 years. The Tracker Control System handles all interdependencies of control, low and high voltages, as well as fast ramp downs in case of higher than allowed temperatures or currents in the detector and experimental cavern problems. This is ensured by evaluating $10^{4}$ power supply parameters, $10^{3}$ information from Tracker Safety System and $10^{5}$ information from the tracker front end.

  5. Attitude tracking control for spacecraft formation with time-varying delays and switching topology

    Science.gov (United States)

    Yang, Hongjiu; You, Xiu; Hua, Changchun

    2016-09-01

    This paper investigates attitude dynamic tracking control for spacecraft formation in the presence of unmeasurable velocity information with time-varying delays and switching topology. Based on an extended state observer, a nonlinear attitude tracking control approach is developed for spacecraft attitude model formulated by Euler-Lagrangian equations. The attitude tracking controller allows for external disturbances and absence of angular velocity information. Both auto-stable region techniques and a Lyapunov function approach are developed to prove ultimately bounded tracking. Simulation results demonstrate effectiveness of the nonlinear control techniques proposed in this paper.

  6. The Sun

    CERN Document Server

    Golub, Leon

    2017-01-01

    Essential for life on earth and a major influence on our environment, the Sun is also the most fascinating object in the daytime sky. Every day we feel the effect of its coming and going – literally the difference between day and night. But figuring out what the Sun is, what it’s made of, why it glows so brightly, how old it is, how long it will last – all of these take thought and observation. Leon Golub and Jay M. Pasachoff offer an engaging and informative account of what scientists know about the Sun, and the history of these discoveries. Solar astronomers have studied the Sun over the centuries both for its intrinsic interest and in order to use it as a laboratory to reveal the secrets of other stars. The authors discuss the surface of the Sun, including sunspots and their eleven-year cycle, as well as the magnetism that causes them; the Sun’s insides, as studied mainly from seismic waves that astronomers record on its surface; the outer layers of the Sun that we see from Earth only at eclipses ...

  7. Low velocity tracking control-based ADRC for large-scale telescope system

    Science.gov (United States)

    Cai, Huaxiang; Huang, Yongmei; Du, Junfeng; Tang, Tao; Zuo, Dan

    2015-10-01

    In this paper, an improved Active Disturbance Rejection control (ADRC) method is proposed to enhance the tracking precision of telescope if the telescope runs in a low velocity. Low velocity telescope system usually suffers some obvious nonlinear disturbances, such as nonlinear friction and unknown external disturbance. Thereby, to ensure the tracking precision, multiple loops control structure is a common control method in telescope system, which includes current loop, velocity loop and position loop. The proposed control method is used in the velocity loop which consists of a PD controller and an Extend State Observer (ESO). The ESO is designed to estimate the disturbance involved in the telescope system. Besides, the PD controller is designed to stabilize the closed-loop system. Furthermore, this control method theoretically guarantees a prescribed tracking performance and final tracking accuracy. Finally, the experiment results show that the proposed control method has excellent performance for reducing the tracking error of low velocity.

  8. Sun exposure may increase risk of prostate cancer in the high UV environment of New South Wales, Australia: a case-control study.

    Science.gov (United States)

    Nair-Shalliker, Visalini; Smith, David P; Egger, Sam; Hughes, Ann Maree; Kaldor, John M; Clements, Mark; Kricker, Anne; Armstrong, Bruce K

    2012-09-01

    Ultraviolet (UV) radiation in sunlight may influence risk of prostate cancer. In New South Wales (NSW), Australia, we examined the relationship between sun exposure at 30 and 50 years of age and risk of prostate cancer in a case-control study combining the NSW prostate cancer care and outcome study (cases) and the NSW non-Hodgkin's lymphoma study (controls). Prostate cancer risk increased with increasing estimated sun exposure (adjusted OR for highest vs. lowest quartiles of average weekly sun exposure in the warmer months 2.07 95% CI: 1.36-3.15) and this increase was most evident with weekend sun exposure (adjusted OR=5.55, 95% CI: 2.94-10.48). High sun sensitivity was also positively associated with risk for prostate cancer (adjusted OR=1.63, 95% CI: 1.09-2.44). The apparent effects of weekly sun exposure did not vary by disease aggressiveness. Our results suggest that increasing sun exposure in mid-adult years increases prostate cancer risk in a high ambient solar UV environment. Given that previous studies, conducted mainly in low solar UV environments, have generally found evidence of a negative association, our findings suggest there may be a U-shaped relationship between solar UV exposure and prostate cancer. Further studies are needed to test the hypothesis that high solar UV exposure is a risk factor for prostate cancer and to explore possible mechanisms for such an association.

  9. Robust control of dielectric elastomer diaphragm actuator for human pulse signal tracking

    Science.gov (United States)

    Ye, Zhihang; Chen, Zheng; Asmatulu, Ramazan; Chan, Hoyin

    2017-08-01

    Human pulse signal tracking is an emerging technology that is needed in traditional Chinese medicine. However, soft actuation with multi-frequency tracking capability is needed for tracking human pulse signal. Dielectric elastomer (DE) is one type of soft actuating that has great potential in human pulse signal tracking. In this paper, a DE diaphragm actuator was designed and fabricated to track human pulse pressure signal. A physics-based and control-oriented model has been developed to capture the dynamic behavior of DE diaphragm actuator. Using the physical model, an H-infinity robust control was designed for the actuator to reject high-frequency sensing noises and disturbances. The robust control was then implemented in real-time to track a multi-frequency signal, which verified the tracking capability and robustness of the control system. In the human pulse signal tracking test, a human pulse signal was measured at the City University of Hong Kong and then was tracked using DE actuator at Wichita State University in the US. Experimental results have verified that the DE actuator with its robust control is capable of tracking human pulse signal.

  10. Autonomous tracked robots in planar off-road conditions modelling, localization, and motion control

    CERN Document Server

    González, Ramón; Guzmán, José Luis

    2014-01-01

    This monograph is framed within the context of off-road mobile robotics. In particular, it discusses issues related to modelling, localization, and motion control of tracked mobile robots working in planar slippery conditions. Tracked locomotion constitutes a well-known solution for mobile platforms operating over diverse challenging terrains, for that reason, tracked robotics constitutes an important research field with many applications (e.g. agriculture, mining, search and rescue operations, military activities). The specific topics of this monograph are: historical perspective of tracked vehicles and tracked robots; trajectory-tracking model taking into account slip effect; visual-odometry-based localization strategies; and advanced slip-compensation motion controllers ensuring efficient real-time execution. Physical experiments with a real tracked robot are presented showing the better performance of the suggested novel approaches to known techniques.   Keywords: longitudinal slip, visual odometry, slip...

  11. H ∞ output tracking control for delta operator systems with insensitivity to controller coefficient variations

    Science.gov (United States)

    Guo, Xiang-Gui; Yang, Guang-Hong

    2013-04-01

    The problem of designing insensitive H ∞ output tracking controller for discrete-time systems is studied in a unified framework by using the delta operator approach. A type of coefficient sensitivity performance measure is first developed tomeasure the sensitivity of the transfer function with respect to controller coefficient variations, and the corresponding controller design problem is naturally reformulated as a mixed-objective H ∞ control problem. It is worth mentioning that a novel bounded real lemma (BRL), i.e. Theorem 1 in this article, for delta operator systems is obtained, which is adapted to deal with the multi-objective optimisation problem or polytopic uncertain systems in a potentially less conservative framework. Then, based on the novel lemma, an linear matrix inequality (LMI)-based design method is proposed for achieving the output tracking purpose. Finally, a numerical example based on the linearised model of F-18 aircraft is given to illustrate the effectiveness of the proposed method.

  12. Intelligent control over chaos in the rolling process and its comparison with tracking control

    Institute of Scientific and Technical Information of China (English)

    任海鹏; 刘丁

    2004-01-01

    Some existing methods for chaos control in engineering fields are analyzed and their drawbacks are pointed out.A tracking method can solve these problems to some extent, but it still depends on the mathematical model of the system to be controlled. An intelligent method based on fuzzy neural network (FNN) is used to control chaos in engineering fields. The FNN is employed to learn the inherent dynamics from the input and output of chaos, which can be used in the inverse system method, so that the method is free of the exact mathematical model of the system to be controlled.This intelligent method is compared with tracking method in the presence of measurement noise and model error. Simulation results show its superiority and feasibility.

  13. Lane Changing Trajectory Planning and Tracking Controller Design for Intelligent Vehicle Running on Curved Road

    Directory of Open Access Journals (Sweden)

    Lie Guo

    2014-01-01

    Full Text Available To enhance the active safety and realize the autonomy of intelligent vehicle on highway curved road, a lane changing trajectory is planned and tracked for lane changing maneuver on curved road. The kinematics model of the intelligent vehicle with nonholonomic constraint feature and the tracking error model are established firstly. The longitudinal and lateral coupling and the difference of curvature radius between the outside and inside lane are taken into account, which is helpful to enhance the authenticity of desired lane changing trajectory on curved road. Then the trajectory tracking controller of closed-loop control structure is derived using integral backstepping method to construct a new virtual variable. The Lyapunov theory is applied to analyze the stability of the proposed tracking controller. Simulation results demonstrate that this controller can guarantee the convergences of both the relative position tracking errors and the position tracking synchronization.

  14. Robustness-tracking control based on sliding mode and H∞ theory for linear servo system

    Institute of Scientific and Technical Information of China (English)

    TIAN Yan-feng; GUO Qing-ding

    2005-01-01

    A robustness-tracking control scheme based on combining H∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure the system has a fast tracking characteristic to the command, and the H∞ robustness controller suppresses the disturbances well within the close loop( including the load and the end effect force of linear motor etc. ) and effectively minimizes the chattering of sliding mode control which influences the steady state performance of the system. Simulation results show that this control scheme enhances the track-command-ability and the robustness of the linear servo system, and in addition, it has a strong robustness to parameter variations and resistance disturbances.

  15. Approximation-error-ADP-based optimal tracking control for chaotic systems with convergence proof

    Science.gov (United States)

    Song, Rui-Zhuo; Xiao, Wen-Dong; Sun, Chang-Yin; Wei, Qing-Lai

    2013-09-01

    In this paper, an optimal tracking control scheme is proposed for a class of discrete-time chaotic systems using the approximation-error-based adaptive dynamic programming (ADP) algorithm. Via the system transformation, the optimal tracking problem is transformed into an optimal regulation problem, and then the novel optimal tracking control method is proposed. It is shown that for the iterative ADP algorithm with finite approximation error, the iterative performance index functions can converge to a finite neighborhood of the greatest lower bound of all performance index functions under some convergence conditions. Two examples are given to demonstrate the validity of the proposed optimal tracking control scheme for chaotic systems.

  16. Stability Analysis and H∞ Output Tracking Control for Linear Systems with Time-Varying Delays

    Directory of Open Access Journals (Sweden)

    K. H. Kim

    2014-01-01

    Full Text Available The problem of stability analysis and H∞ output tracking control for linear systems with time-varying delays is studied. First, by construction of a newly augmented Lyapunov-Krasovskii functional, a delay-dependent stability criterion for nominal systems with time-varying delays is established in terms of linear matrix inequalities (LMIs. Second, based on the H∞ sense, the proposed method is extended to solve the problem of designing an H∞ output tracking controller to track the output of a given reference model. Finally, three examples are included to show the validity and effectiveness of the presented delay-dependent stability and the H∞ output tracking controller design.

  17. An Adaptive Tracking Control of Fractional-Order Chaotic Systems with Uncertain System Parameter

    OpenAIRE

    Ping Zhou; Rui Ding

    2011-01-01

    An adaptive tracking control scheme is presented for fractional-order chaotic systems with uncertain parameter. It is theoretically proved that this approach can make the uncertain parameter fractional-order chaotic system track any given reference signal and the uncertain system parameter is estimated through the adaptive tracking control process. Furthermore, the reference signal may belong to other integer-orders chaotic system or belong to different fractional-order chaotic system with di...

  18. Solar panel tracking control. Tracking the variations caused due to reflection from snow and other factors

    OpenAIRE

    Pandey, Saroj

    2016-01-01

    This report presents the design and simulations of a dual-axis solar tracker. This solar tracker works solely based on the output power of the PV panel mounted to it. It does not use any photosensors to orient the PV module. Describing the process in short, the position of the Sun is first calculated based on time and location information. Since this solar panel will be mounted here at UiT, Norges Arktiske Universitet, Narvik. So, it’s latitude and longitude is always fixed. ...

  19. Response Across the Health-Literacy Spectrum of Kidney Transplant Recipients to a Sun-Protection Education Program Delivered on Tablet Computers: Randomized Controlled Trial.

    Science.gov (United States)

    Robinson, June K; Friedewald, John J; Desai, Amishi; Gordon, Elisa J

    2015-08-18

    Sun protection can reduce skin cancer development in kidney transplant recipients, who have a greater risk of developing squamous cell carcinoma than the general population. A culturally sensitive sun-protection program (SunProtect) was created in English and Spanish with the option of choosing audio narration provided by the tablet computer (Samsung Galaxy Tab 2 10.1). The intervention, which showed skin cancer on patients with various skin tones, explained the following scenarios: skin cancer risk, the ability of sun protection to reduce this risk, as well as offered sun-protection choices. The length of the intervention was limited to the time usually spent waiting during a visit to the nephrologist. The development of this culturally sensitive, electronic, interactive sun-protection educational program, SunProtect, was guided by the "transtheoretical model," which focuses on decision making influenced by perceptions of personal risk or vulnerability to a health threat, importance (severity) of the disease, and benefit of sun-protection behavior. Transportation theory, which holds that narratives can have uniquely persuasive effects in overcoming preconceived beliefs and cognitive biases because people transported into a narrative world will alter their beliefs based on information, claims, or events depicted, guided the use of testimonials. Participant tablet use was self-directed. Self-reported responses to surveys were entered into the database through the tablet. Usability was tested through interviews. A randomized controlled pilot trial with 170 kidney transplant recipients was conducted, where the educational program (SunProtect) was delivered through a touch-screen tablet to 84 participants. The study involved 62 non-Hispanic white, 60 non-Hispanic black, and 48 Hispanic/Latino kidney transplant recipients. The demographic survey data showed no significant mean differences between the intervention and control groups in age, sex, income, or time since

  20. A three-component model of the control error in manual tracking of continuous random signals.

    Science.gov (United States)

    Gerisch, Hans; Staude, Gerhard; Wolf, Werner; Bauch, Gerhard

    2013-10-01

    The performance of human operators acting within closed-loop control systems is investigated in a classic tracking task. The dependence of the control error (tracking error) on the parameters display gain, k(display), and input signal frequency bandwidth, f(g), which alter task difficulty and presumably the control delay, is studied with the aim of functionally specifying it via a model. The human operator as an element of a cascaded human-machine control system (e.g., car driving or piloting an airplane) codetermines the overall system performance. Control performance of humans in continuous tracking has been described in earlier studies. Using a handheld joystick, 10 participants tracked continuous random input signals. The parameters f(g) and k(display) were altered between experiments. Increased task difficulty promoted lengthened control delay and, consequently, increased control error.Tracking performance degraded profoundly with target deflection components above 1 Hz, confirming earlier reports. The control error is composed of a delay-induced component, a demand-based component, and a novel component: a human tracking limit. Accordingly, a new model that allows concepts of the observed control error to be split into these three components is suggested. To achieve optimal performance in control systems that include a human operator (e.g., vehicles, remote controlled rovers, crane control), (a) tasks should be kept as simple as possible to achieve shortest control delays, and (b) task components requiring higher-frequency (> 1 Hz) tracking actions should be avoided or automated by technical systems.

  1. A Systematic Review of Randomised Controlled Trials to Investigate the Effect of Educational Interventions on Reducing Sunburn and Improving Sun Protection Knowledge and Behaviour.

    OpenAIRE

    Jones, Helen

    2009-01-01

    Introduction and Background Skin cancer is the most commonly occurring cancer in white populations throughout the world, yet, by taking adequate sun protection measures it can be prevented. This systematic review investigated the effectiveness of educational interventions on reducing sunburns and improving sun protection knowledge and behaviours in individuals of all ages. Methodology Using the electronic databases, Ovid-Medline and the Cochrane Central Register of Controlled Cli...

  2. Research on Control Method of Keeping Flight Formation by Using SDRE on the Sun-Earth Libration Points

    Directory of Open Access Journals (Sweden)

    He Zhenqi

    2017-01-01

    Full Text Available Keeping the flying formation of spacecraft is a key problem which needs to be solved in deep space exploration missions. In this paper, the nonlinear dynamic model of formation flying is established and a series of transformations are carried out on this model equation. By using SDRE (State-Dependent Riccati Equation algorithm, the optimal control of flying formation is realized. Compared with the traditional control method based on the average orbit elements and LQR (Linear Quadratic Regulator control method, the SDRE control method has higher control precision and is more suitable for the advantages of continuous control in practical engineering. Finally, the parameter values of the sun-earth libration point L2 are substituted in the equation and simulation is performed. The simulation curves of SDRE controller are compared with LQR controller. The results show that the SDRE controllers time cost is less than the LQR controllers and the former’s fuel consumption is less than the latter’s in the system transition process.

  3. Motivational control of sign-tracking behaviour: A theoretical framework.

    Science.gov (United States)

    Anselme, Patrick

    2016-06-01

    Learning and motivation are two psychological processes allowing animals to form and express Pavlovian associations between a conditioned stimulus (CS) and an unconditioned stimulus (UCS). However, most models have attempted to capture the mechanisms of learning while neglecting the role that motivation (or incentive salience) may actively play in the expression of behaviour. There is now a body of neurobehavioural evidence showing that incentive salience represents a major determinant of Pavlovian performance. This article presents a motivational model of sign-tracking behaviour whose aim is to explain a wide range of behavioural effects, including those related to partial reinforcement, physiological changes, competition between CSs, and individual differences in responding to a CS. In this model, associative learning is assumed to determine the ability to produce a Pavlovian conditioned response rather than to control the strength and the quality of that response. The model is in keeping with the incentive salience hypothesis and will therefore be discussed in the context of dopamine's role in the brain.

  4. Super Twisting Second Order Sliding Mode Control for Position Tracking Control of Hydraulic Drives

    DEFF Research Database (Denmark)

    Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

    2013-01-01

    In this paper a control strategy based on second order sliding modes, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD), is proposed. The main target is to overcome problems with linear controllers deteriorating performance due to the strong...... nonlinearities characterizing VCD's. The proposed controller requires pressure-, valve- and piston position measurements, and is based on the so-called super twisting algorithm and compensation of controlgain nonlinearities. Simulation results demonstrate strong robustness when subjected to large perturbations...

  5. Precise Speed Tracking Control of Ultrasonic Motors via Sampled-Data H∞ Control

    Science.gov (United States)

    Vongsaroj, Tharathip; Kobayashi, Yasuhide; Fujioka, Hisaya; Yanabe, Shigeo

    In this paper, we consider a synthesis problem of digital controllers for speed tracking control systems of ultrasonic motors. In previous works, a continuous-time H∞ control based synthesis involving the Tustin transformation has been utilized to solve the problem, where it has been empirically known that an over-estimation of a modeling error is needed to avoid speed fluctuations in a high frequency range. In this paper, it is shown that a desirable performance can be obtained by the sampled-data H∞ control synthesis without such conservativeness in the modeling.

  6. An Adaptive Fuzzy Control Approach for the Robust Tracking of a MEMS Gyroscope Sensor

    Directory of Open Access Journals (Sweden)

    Juntao Fei

    2011-11-01

    Full Text Available In this paper, a direct adaptive fuzzy control using a supervisory compensator is designed for the robust tracking of a MEMS gyroscope sensor. The parameters of the membership functions are adjusted according to the designed adaptive law for the purpose of tracking a reference trajectory. A fuzzy controller that can approximate the unknown nonlinear function and compensate the system

  7. Tracking Control and Synchronization for Two-Dimension Discrete Chaotic Systems

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    The popular method of tracking control and synchronization for two-dimension discrete chaotic systems is put forward in this paper, and the chaotic system track arbitrarily reference signal is realized. This method is applied to two chaotic systems, and one can get good control result.

  8. Little Sun

    DEFF Research Database (Denmark)

    Ebbesen, Toke Riis

    2017-01-01

    the ideas of Alfred Gell’s anthropology of art and the indicative framework derived from Argentinian semiotician Juan Pablo Bonta and Jørn Guldberg. The toy-like solar lamp Little Sun by Olafur Eliasson and Frederik Ottesen is used as case that blends the registers of social design and art......, and as an example of how designers attempt to determine meaning potentials through design in a complex interplay of different strategies. In the final analysis, what characterise objects like Little Sun is seldom that they communicate their meanings in themselves, but instead rely on forceful mediations to gain...

  9. Little sun

    DEFF Research Database (Denmark)

    Ebbesen, Toke Riis

    2017-01-01

    the ideas of Alfred Gell’s anthropology of art and the indicative framework derived from Argentinian semiotician Juan Pablo Bonta and Jørn Guldberg. The toy-like solar lamp Little Sun by Olafur Eliasson and Frederik Ottesen is used as case that blends the registers of social design and art......, and as an example of how designers attempt to determine meaning potentials through design in a complex interplay of different strategies. In the final analysis, what characterise objects like Little Sun is seldom that they communicate their meanings in themselves, but instead rely on forceful mediations to gain...

  10. Path Tracking Control of Automatic Parking Cloud Model considering the Influence of Time Delay

    Directory of Open Access Journals (Sweden)

    Yiding Hua

    2017-01-01

    Full Text Available This paper establishes the kinematic model of the automatic parking system and analyzes the kinematic constraints of the vehicle. Furthermore, it solves the problem where the traditional automatic parking system model fails to take into account the time delay. Firstly, based on simulating calculation, the influence of time delay on the dynamic trajectory of a vehicle in the automatic parking system is analyzed under the transverse distance Dlateral between different target spaces. Secondly, on the basis of cloud model, this paper utilizes the tracking control of an intelligent path closer to human intelligent behavior to further study the Cloud Generator-based parking path tracking control method and construct a vehicle path tracking control model. Moreover, tracking and steering control effects of the model are verified through simulation analysis. Finally, the effectiveness and timeliness of automatic parking controller in the aspect of path tracking are tested through a real vehicle experiment.

  11. Analyses and Simulation of Fuzzy Logic Control for Suspension System of a Track Vehicle

    Institute of Scientific and Technical Information of China (English)

    YU Yang; WEI Xue-xia; ZHANG Yong-fa

    2008-01-01

    The vibration caused by terrible road excitation affects the ride quality and safety of track vehicles. The vibration control of suspension systems is a very important factor for modern track vehicles. A fuzzy logic control for suspension system of a track vehicle is presented. A mechanical model and a system of differential equations of motion taking account of the mass of loading wheel are established. Then the fuzzy logic control is applied to control the vibration of suspension system of track vehicles for sine signal and random road surfaces. Numerical simulation shows that the maximum acceleration of suspension system can be reduced to 44% of the original value for sine signal road surface, and the mean square root of acceleration of suspension system can be reduced to 21% for random road surface. Therefore, the proposed fuzzy logic control is an efficient method for the suspension systems of track vehicles.

  12. Fuzzy Control for Optimizing Ship Tracking in Karang Jamuang – Tanjung Perak

    Directory of Open Access Journals (Sweden)

    Aulia S. Aisjah

    2012-11-01

    Full Text Available Karang Jamuang West Track - Tanjung Perak is one of the busiest routes for sea transportation in Indonesia. This paper proposes an attempt to optimize the ship’s trajectory by designing a track keeping control along that track line. Control system is designed based on fuzzy logic (FLC. FLC design intended to control the speed and the bow of the ship in order to keep the track. FLC 1 control the speed of the input changing by the distance, while the FLC 2 control the prow with yaw angle and yawrate error input. As an object for autopilot is Brotojoyo MT tanker. The research was done by simulation, and generate the ability of FLC which able to keep the track with small error.

  13. High Performance Motion Trajectory Tracking Control of Pneumatic Cylinders: A Comparison of Some Nonlinear Control Algorithms

    Directory of Open Access Journals (Sweden)

    Deyuan Meng

    2014-05-01

    Full Text Available The dynamics of pneumatic systems are highly nonlinear, and there normally exists a large extent of model uncertainties; the precision motion trajectory tracking control of pneumatic cylinders is still a challenge. In this paper, two typical nonlinear controllers—adaptive controller and deterministic robust controller—are constructed firstly. Considering that they have both benefits and limitations, an adaptive robust controller (ARC is further proposed. The ARC is a combination of the first two controllers; it employs online recursive least squares estimation (RLSE to reduce the extent of parametric uncertainties, and utilizes the robust control method to attenuate the effects of parameter estimation errors, unmodeled dynamics, and disturbances. In order to solve the conflicts between the robust control design and the parameter adaption law design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Theoretically, ARC possesses the advantages of the adaptive control and the deterministic robust control, and thus an even better tracking performance can be expected. Extensive comparative experimental results are presented to illustrate the achievable performance of the three proposed controllers and their performance robustness to the parameter variations and sudden disturbance.

  14. Trajectory Tracking Control of Underactuated USV with Model Perturbation and External Interference

    Directory of Open Access Journals (Sweden)

    Liu Jinbiao

    2016-01-01

    Full Text Available This paper presents an improved trajectory tracking controller based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV. A Three Degree of Freedom (DOF underactuated maneuvering motion model for water-jet-propelled USV is established, and controller can track both straight line trajectory and curve trajectory with relatively high accuracy. The stability of USV system is proved by BIBO (bounded-input-bounded-output stable characteristics, then simulation experiments are carried out to demonstrate the robustness and precise control performance of the controller.

  15. Solar tracking system

    Energy Technology Data Exchange (ETDEWEB)

    Okandan, Murat; Nielson, Gregory N.

    2016-07-12

    Solar tracking systems, as well as methods of using such solar tracking systems, are disclosed. More particularly, embodiments of the solar tracking systems include lateral supports horizontally positioned between uprights to support photovoltaic modules. The lateral supports may be raised and lowered along the uprights or translated to cause the photovoltaic modules to track the moving sun.

  16. Design of a Solar Tracking System Using the Brightest Region in the Sky Image Sensor.

    Science.gov (United States)

    Wei, Ching-Chuan; Song, Yu-Chang; Chang, Chia-Chi; Lin, Chuan-Bi

    2016-11-25

    Solar energy is certainly an energy source worth exploring and utilizing because of the environmental protection it offers. However, the conversion efficiency of solar energy is still low. If the photovoltaic panel perpendicularly tracks the sun, the solar energy conversion efficiency will be improved. In this article, we propose an innovative method to track the sun using an image sensor. In our method, it is logical to assume the points of the brightest region in the sky image representing the location of the sun. Then, the center of the brightest region is assumed to be the solar-center, and is mathematically calculated using an embedded processor (Raspberry Pi). Finally, the location information on the sun center is sent to the embedded processor to control two servo motors that are capable of moving both horizontally and vertically to track the sun. In comparison with the existing sun tracking methods using image sensors, such as the Hough transform method, our method based on the brightest region in the sky image remains accurate under conditions such as a sunny day and building shelter. The practical sun tracking system using our method was implemented and tested. The results reveal that the system successfully captured the real sun center in most weather conditions, and the servo motor system was able to direct the photovoltaic panel perpendicularly to the sun center. In addition, our system can be easily and practically integrated, and can operate in real-time.

  17. Design of a Solar Tracking System Using the Brightest Region in the Sky Image Sensor

    Directory of Open Access Journals (Sweden)

    Ching-Chuan Wei

    2016-11-01

    Full Text Available Solar energy is certainly an energy source worth exploring and utilizing because of the environmental protection it offers. However, the conversion efficiency of solar energy is still low. If the photovoltaic panel perpendicularly tracks the sun, the solar energy conversion efficiency will be improved. In this article, we propose an innovative method to track the sun using an image sensor. In our method, it is logical to assume the points of the brightest region in the sky image representing the location of the sun. Then, the center of the brightest region is assumed to be the solar-center, and is mathematically calculated using an embedded processor (Raspberry Pi. Finally, the location information on the sun center is sent to the embedded processor to control two servo motors that are capable of moving both horizontally and vertically to track the sun. In comparison with the existing sun tracking methods using image sensors, such as the Hough transform method, our method based on the brightest region in the sky image remains accurate under conditions such as a sunny day and building shelter. The practical sun tracking system using our method was implemented and tested. The results reveal that the system successfully captured the real sun center in most weather conditions, and the servo motor system was able to direct the photovoltaic panel perpendicularly to the sun center. In addition, our system can be easily and practically integrated, and can operate in real-time.

  18. Development of seam tracking system with ultrasonic sensor using self-tuning fuzzy control

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    One kind of the SAW seam tracking system with contactless ultrasonic sensor is presented in this paper. The new contactless ultrasonic sensor for seam tracking and the working principle of the seam tracking with the sensor are introduced. Based on the experiments, the optimal values of the fuzzy control parameters α and k3 are defined by means of the off-line adjusting method. Because the self-tuning fuzzy control is adopted in the seam tracking system, the overshoot of the system is restrained, the steady-state error is reduced, and the system’s response speed is improved effectively. The results of the SAW seam tracking experiments show that this system’s tracking accuracy is up to ±0.5mm and the system can satisfy the requirements of the engineering application.

  19. Engine Torque Control of SI Engine using Linear Quadratic Integral Tracking (LQIT Optimal Control

    Directory of Open Access Journals (Sweden)

    Aris Triwiyatno

    2011-11-01

    Full Text Available Due to the needs of improving fuel economy and reducing emissions, it is increasingly important to achieve control over robustness behavior and meet performance objectives over the life of the vehicle. This requires the development of high performance and optimal power train controllers. The performance objectives are often conflicting, or at least interrelated. One way to potentially meet these performance requirements is to introduce a method of controlling engine torque of Spark Ignition (SI engine using Linear Quadratic Integral Tracking (LQIT optimal control. The goal is to develop simple algorithms which can control engine torque well, thus providing fuel control more efficient and simultaneously improving engine performance due to the needs of the driver based on throttle opening information. In this case, spark ignition engine with automatic transmission simulation model is used to meet a good performance under this controller design.

  20. Internal model control of a fast steering mirror for electro-optical fine tracking

    Science.gov (United States)

    Xia, Yun-xia; Bao, Qi-liang; Wu, Qiong-yan

    2010-11-01

    The objective of this research is to develop advanced control methods to improve the bandwidth and tracking precision of the electro-optical fine tracking system using a fast steering mirror (FSM). FSM is the most important part in this control system. The model of FSM is established at the beginning of this paper. Compared with the electro-optical fine tracking system with ground based platform, the electro-optical fine tracking system with movement based platform must be a wide bandwidth and a robustness system. An advanced control method based on internal model control law is developed for electro-optical fine tracking system. The IMC is an advanced algorithm. Theoretically, it can eliminate disturbance completely and make sure output equals to input even there is model error. Moreover, it separates process to the system dynamic characteristic and the object perturbation. Compared with the PID controller, the controller is simpler and the parameter regulation is more convenient and the system is more robust. In addition, we design an improved structure based on classic IMC. The tracking error of the two-port control system is much better than which of the classic IMC. The simulation results indicate that the electro-optical control system based on the internal model control algorithm is very effective. It shows a better performance at the tracing precision and the disturbance suppresses. Thus a new method is provided for the high-performance electro-optical fine tracking system.

  1. CONTINUOUS ROBUST TRACKING CONTROLLERS FOR A CLASS OF UNCERTAIN NONLINEAR DYNAMICAL SYSTEMS

    Institute of Scientific and Technical Information of China (English)

    胡剑波; 苏宏业; 柯挺; 褚健; 陈新海

    2001-01-01

    Robust tracking controller for a class of uncertain nonlinear dynamical systems, which are linearizable by input-output feedback with matching uncertainties, was investigated. In this study, uniform ultimate bound or uniformly asymptotic stability of tracking errors were obtained by different choice of the control gain. A simulation to determine the effectiveness of the proposed approach showed that the control performance was better than that of VSC (Variable Structure Control).

  2. Dithering Digital Ripple Correlation Control for Photovoltaic Maximum Power Point Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Barth, C; Pilawa-Podgurski, RCN

    2015-08-01

    This study demonstrates a new method for rapid and precise maximum power point tracking in photovoltaic (PV) applications using dithered PWM control. Constraints imposed by efficiency, cost, and component size limit the available PWM resolution of a power converter, and may in turn limit the MPP tracking efficiency of the PV system. In these scenarios, PWM dithering can be used to improve average PWM resolution. In this study, we present a control technique that uses ripple correlation control (RCC) on the dithering ripple, thereby achieving simultaneous fast tracking speed and high tracking accuracy. Moreover, the proposed method solves some of the practical challenges that have to date limited the effectiveness of RCC in solar PV applications. We present a theoretical derivation of the principles behind dithering digital ripple correlation control, as well as experimental results that show excellent tracking speed and accuracy with basic hardware requirements.

  3. Complex Dynamical Network Control for Trajectory Tracking Using Delayed Recurrent Neural Networks

    Directory of Open Access Journals (Sweden)

    Jose P. Perez

    2014-01-01

    Full Text Available In this paper, the problem of trajectory tracking is studied. Based on the V-stability and Lyapunov theory, a control law that achieves the global asymptotic stability of the tracking error between a delayed recurrent neural network and a complex dynamical network is obtained. To illustrate the analytic results, we present a tracking simulation of a dynamical network with each node being just one Lorenz’s dynamical system and three identical Chen’s dynamical systems.

  4. Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PIaDb Controller

    Directory of Open Access Journals (Sweden)

    Salah M. Swadi

    2014-09-01

    Full Text Available Nowadays, Wheeled Mobile Robots (WMRs have found many applications as industry, transportation, inspection, and other fields. Therefore, the trajectory tracking control of the nonholonomic wheeled mobile robots have an important problem. This work focus on the application of model-based on Fractional Order PIaDb (FOPID controller for trajectory tracking problem. The control algorithm based on the errors in postures of mobile robot which feed to FOPID controller to generate correction signals that transport to torque for each driven wheel, and by means of dynamics model of mobile robot these torques used to compute the linear and angular speed to reach the desired pose. In this work a dynamics model of mobile robot was driven for the case where the centroid of mobile robot platform is not coincide with reference frame of mobile robot (i.e. reference frame is located at midpoint of driven wheels axis, while the inertia is counted for. The Evolutionary Algorithm has been used to modified the parameters (Kp, Kd, Ki,a, and b of the FOPID controller for wheeled mobile robot. Simulation results show the effectiveness of the proposed control algorithm: that is demonstrated by applied this controller at four case studies (Circular trajectory, S-shape trajectory, Infinity trajectory, and Line trajectory at two cases, with presences of disturbance and without, these results shows good matching between desired trajectory and simulation one while error in posture goes to zero rapidly.

  5. Multibeam optical apparatus and method for tracking control for an optical disk having a set of tracks

    Science.gov (United States)

    Reno, Charles W. (Inventor)

    1996-01-01

    A multitrack optical disk has two or more circular or spiral tracks, which are recorded or played back in simultaneous sets for high data rates. Tracking is accomplished by sets of first and second tracking pads, which lie partially on and partially off the track paths. The amount of inter-track space required to accommodate the track pads is reduced by placing the overlap of the tracking pads in the same inter-track space, and by tracking any additional simultaneous tracks in excess of two by mechanical coupling with the first two.

  6. A generalized trajectory tracking controller for robot manipulators with bounded inputs

    Institute of Scientific and Technical Information of China (English)

    Hua-shan LIU; Shi-qiang ZHU

    2009-01-01

    A generalized controller based on stability theory of singularly perturbed systems is proposed, to deal with the problem of bounded actuator inputs in robot trajectory tracking control. The saturation function with error-gain matrix is applied in the torque control law, which ensures the upper bound of torque inputs in any given limited range. Through appropriately setting the entries of the error-gain matrix, the tracking performance can be improved. Moreover, a pseudo signal is generated from a linear filter to substitute for the actual velocity error, eliminating the need for velocity measurements. Finally, to verify the effectiveness of the generalized controller, a new saturated controller with error-gain-contained arc tangent function is designed. Comparison experiments show that the proposed controller can strictly guarantee the bound of the torque inputs in situations with non-zero initial tracking errors, and gives a better tracking result than other controllers.

  7. Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)

    CERN Document Server

    Lee, Taeyoung; McClamroch, N Harris

    2011-01-01

    This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear output-tracking controllers are developed to follow (1) an attitude command, and (2) a position command for the vehicle center of mass. The controlled system has the desirable properties that the tracking errors are uniformly ultimately bounded, and the size of the ultimate bound can be arbitrarily reduced by control system parameters. Numerical examples illustrating complex maneuvers are provided.

  8. Genetic Fuzzy Logic Control Technique for a Mobile Robot Tracking a Moving Target

    Directory of Open Access Journals (Sweden)

    Karim Benbouabdallah

    2013-01-01

    Full Text Available Target tracking is a crucial function for an autonomous mobile robot navigating in unknown environments. This paper presents a mobile robot target tracking approach based on artificial intelligence techniques. The proposed controller calculates both the mobile robot linear and angular velocities from the distance and angle that separate it to the moving target. The controller was designed using fuzzy logics theory and then, a genetic algorithm was applied to optimize the scaling factors of the fuzzy logic controller for better accuracy and smoothness of the robot trajectory. Simulation results illustrate that the proposed controller leads to good performances in terms of computational time and tracking errors convergence.

  9. On the Transfer and Control of Space Probes Around the L1 Point of the Sun-Earth+Moon System

    Science.gov (United States)

    Hou, Xi-Yun; Liu, Lin

    2008-01-01

    The motion around the collinear libration points in the restricted three body problem is unstable. But there exist conditionally stable periodic orbits around these points. Special-purpose space probes located in the vicinity of these points (e.g., ISEE-3, SOHO) can benefit from this dynamical property, in regard to maintaining the orbit in position and the energy required of placing the probe in position. As an example, we study in this paper the launch and orbital control of a space probe around the L1 libration point in the system consisting of the Sun and the Earth-Moon. We present some theoretical and numerical simulations' results, which may serve as a basis for the realization of such a space probe in future.

  10. Robust trajectory tracking control of a dual-arm space robot actuated by control moment gyroscopes

    Science.gov (United States)

    Jia, Yinghong; Misra, Arun K.

    2017-08-01

    It is a new design concept to employ control moment gyroscopes (CMGs) as reactionless actuators for space robots. Such actuation has several noticeable advantages such as weak dynamical coupling and low power consumption over traditional joint motor actuation. This paper presents a robust control law for a CMG-actuated space robot in presence of system uncertainties and closed-chain constraints. The control objective is to make the manipulation variables to track the desired trajectories, and reduce the possibility of CMG saturation simultaneously. A reduced-order dynamical equation in terms of independent motion variables is derived using Kane's equations. Desired trajectories of the independent motion variables are derived by minimum-norm trajectory planning algorithm, and an adaptive sliding mode controller with improved adaptation laws is proposed to drive the independent motion variables tracking the desired trajectories. Uniformly ultimate boundedness of the closed loop system is proven using Lyapunov method. The redundancy of the full-order actual control torques is utilized to generate a null torque vector which reduces the possibility of CMG angular momentum saturation while producing no effect on the reduced-order control input. Simulation results demonstrate the effectiveness of the proposed algorithms and the advantage of weak dynamical coupling of the CMG-actuated system.

  11. H∞ tracking control of coupled spatiotemporal chaos based on fuzzy models

    Institute of Scientific and Technical Information of China (English)

    Dou Chun-Xia

    2005-01-01

    Due to the interactions among coupled spatiotemporal subsystems, it is difficult to achieve the tracking control of the coupled spatiotemporal chaos. However, every subsystem of the coupled spatiotemporal chaos can be approximated by a set of fuzzy models, of which each represents a linearized model of the subsystem corresponding to the operating point of the controlled system. Based on these fuzzy models, an H∞ fuzzy tracking control scheme is suggested,where a linear matrix inequalities (LMI) is employed to represent the feedback controller. The parameters of controller are obtained by using convex optimization techniques of LMI. The model reference tracking control of the coupled spatiotemporal chaos is achieved, and the stability of the system is also guaranteed. The tracking performance is tested by simulation as an example.

  12. Trajectory tracking control of underactuated USV based on modified backstepping approach

    Directory of Open Access Journals (Sweden)

    Dong Zaopeng

    2015-09-01

    Full Text Available This paper presents a state feedback based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV in the horizontal plane. A nonlinear three Degree of Freedom (DOF underactuated dynamic model for USV is considered, and trajectory tracking controller that can track both curve trajectory and straight line trajectory with high accuracy is designed as the well known Persistent Exciting (PE conditions of yaw velocity is completely relaxed in our study. The proposed controller has further been enriched by incorporating an integral action additionally for enhancing the steady state performance and control precision of the USV trajectory tracking control system. Global stability of the overall system is proved by Lyapunov theory and Barbalat’s Lemma, and then simulation experiments are carried out to demonstrate the effectiveness of the controller designed.

  13. Trajectory tracking control for underactuated unmanned surface vehicles with dynamic uncertainties

    Institute of Scientific and Technical Information of China (English)

    廖煜雷; 张铭钧; 万磊; 李晔

    2016-01-01

    The trajectory tracking control problem for underactuated unmanned surface vehicles (USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.

  14. Day the world discovered the sun an extraordinary story of scientific adventure and the race to track the transit of Venus

    CERN Document Server

    Anderson, Mark

    2012-01-01

    On June 3, 1769, the planet Venus briefly passed across the face of the sun in a cosmic alignment that occurs twice per century. Anticipation of the rare celestial event sparked a worldwide competition among aspiring global superpowers, each sending their own scientific expeditions to far-flung destinations to time the planet's trek. These pioneers used the ?Venus Transit" to discover the physical dimensions of the solar system and refine the methods of discovering longitude at sea. In this fast-paced narrative, Mark Anderson reveals the stories of three Venus Transit voyages--to the heart

  15. Maximum power point tracking for photovoltaic system using model predictive control

    Energy Technology Data Exchange (ETDEWEB)

    Ma, Chao; Li, Ning; Li, Shaoyuan [Shanghai Jiao Tong Univ., Shanghai (China). Key Lab. of System Control and Information Processing

    2013-07-01

    In this paper, T-G-P model is built to find maximum power point according to light intensity and temperature, making it easier and more clearly for photovoltaic system to track the MPP. A predictive controller considering constraints for safe operation is designed. The simulation results show that the system can track MPP quickly, accurately and effectively.

  16. Design of active disturbance rejection controller for space optical communication coarse tracking system

    Science.gov (United States)

    Gu, Jian; Ai, Yong

    2015-10-01

    In order to improve the dynamic tracking performance of coarse tracking system in space optical communication, a new control method based on active disturbance rejection controller (ADRC) is proposed. Firstly, based on the structure analysis of coarse tracking system, the simplified system model was obtained, and then the extended state observer was designed to calculate state variables and spot disturbance from the input and output signals. Finally, the ADRC controller of coarse tracking system is realized with the combination of nonlinear PID controller. The simulation experimental results show that compared with the PID method, this method can significantly reduce the step response overshoot and settling time. When the target angular velocity is120mrad/s, tracking error with ADRC method is 30μrad, which decreases 85% compared with the PID method. Meanwhile the disturbance rejection bandwidth is increased by 3 times with ADRC. This method can effectively improve the dynamic tracking performance of coarse tracking and disturbance rejection degree, with no need of hardware upgrade, and is of certain reference value to the wide range and high dynamic precision photoelectric tracking system.

  17. H(infinity) output tracking control for nonlinear systems via T-S fuzzy model approach.

    Science.gov (United States)

    Lin, Chong; Wang, Qing-Guo; Lee, Tong Heng

    2006-04-01

    This paper studies the problem of H(infinity) output tracking control for nonlinear time-delay systems using Takagi-Sugeno (T-S) fuzzy model approach. An LMI-based design method is proposed for achieving the output tracking purpose. Illustrative examples are given to show the effectiveness of the present results.

  18. Real-time seam tracking for robotic laser welding using trajectory-based control

    NARCIS (Netherlands)

    Graaf, de Menno; Aarts, Ronald; Jonker, Ben; Meijer, Johan

    2010-01-01

    In this paper a real-time seam tracking algorithm is proposed that can cope with the accuracy demands of robotic laser welding. A trajectory-based control architecture is presented, which had to be developed for this seam tracking algorithm. Cartesian locations (position and orientation) are added t

  19. A neural network controller for the path tracking control of a hopping robot involving time delays.

    Science.gov (United States)

    Chaitanya, V Sree Krishna; Reddy, M Srinivas

    2006-02-01

    In this paper a hopping robot motion with offset mass is discussed. A mathematical model has been considered and an efficient single layered neural network has been developed to suit to the dynamics of the hopping robot, which ensures guaranteed tracking performance leading to the stability of the otherwise unstable system. The neural network takes advantage of the robot regressor dynamics that expresses the highly nonlinear robot dynamics in a linear form in terms of the known and unknown robot parameters. Time delays in the control mechanism play a vital role in the motion of hopping robots. The present work also enables us to estimate the maximum time delay admissible with out losing the guaranteed tracking performance. Further this neural network does not require offline training procedures. The salient features are highlighted by appropriate simulations.

  20. Chattering-Free Adaptive Sliding Mode Control for Attitude Tracking of Spacecraft with External Disturbance

    Directory of Open Access Journals (Sweden)

    Xuxi Zhang

    2014-01-01

    Full Text Available The attitude tracking problem of spacecraft in the presence of unknown disturbance is investigated. By using the adaptive control technique and the Lyapunov stability theory, a chattering-free adaptive sliding mode control law is proposed for the attitude tracking problem of spacecraft with unknown disturbance. Simulation results are employed to demonstrate the effectiveness of the proposed control design technique in this paper.

  1. Robust Adaptive Fault-Tolerant Tracking Control of Three-Phase Induction Motor

    Directory of Open Access Journals (Sweden)

    Hossein Tohidi

    2014-01-01

    Full Text Available This paper deals with the problem of induction motor tracking control against actuator faults and external disturbances using the linear matrix inequalities (LMIs method and the adaptive method. A direct adaptive fault-tolerant tracking controller design method is developed based on Lyapunov stability theory and a constructive algorithm based on linear matrix inequalities for online tuning of adaptive and state feedback gains to stabilize the closed-loop system in order to reduce the fault effect with disturbance attenuation. Simulation results reveal the merits of proposed robust adaptive fault-tolerant tracking control scheme on an induction motor subjected to actuator faults.

  2. Tracking and controlling everything that affects quality is the key to a quality management system.

    Science.gov (United States)

    Hull, Carl; Wray, Bruce; Winslow, Ford; Vilicich, Mark

    2011-11-01

    Every laboratory has a need to track and control the variables that drive the quality of the results. However, each laboratory is unique and what one organization deems to be a critical process to track and control will likely differ from other organizations. Furthermore, there is more than just the end product or result that needs to be tracked and controlled. All of the intermediate products and resources play a significant role in producing the final product and each of these needs to be included in the LIMS. At a high level, this article will present ideas and opinions on the following topics in relation to implementing a LIMS process tracking and control system in a laboratory: The difference between tracking and controlling processes; What to track and control in the lab; The "product" of the laboratory; Preventing mistakes in a laboratory; Comprehensive software platform options; The value of seeing a system as opposed to imagining it; The use of barcodes in the laboratory; and an assessment on using the Risk Based Approach in deciding what to include in the tracking system.

  3. Adaptive Robust Tracking Control of Pressure Trajectory Based on Kalman Filter

    Institute of Scientific and Technical Information of China (English)

    CAO Jian; ZHU Xiaocong; TAO Guoliang; YAO Bin

    2009-01-01

    When adaptive robust control(ARC) strategy based on backstepping design is applied in pneumatic servo control, accurate pressure tracking in motion is especially necessary for both force and position trajectories tracking of rodless pneumatic cylinders, and therefore an adaptive robust pressure controller is developed in this paper to improve the tracking accuracy of pressure trajectory in the chamber when the pneumatic cylinder is moving. In the proposed adaptive robust pressure controller, off-line fitting of the orifice area and on-line parameter estimation of the flow coefficient are utilized to have improved model compensation, and meanwhile robust feedback and Kalman filter are used to have strong robustness against uncertain nonlinearities, parameter fluctuations and noise. Research results demonstrate that the adaptive robust pressure controller could not only track various pressure trajectories accurately even when the pneumatic cylinder is moving, but also obtain very smooth control input, which indicates the effectiveness of adaptive model compensation. Especially when a step pressure trajectory is tracked under the condition of the movement of a rodless pneumatic cylinder, maximum tracking error of ARC is 4.46 kPa and average tracking error is 0.99 kPa, and steady-state error of ARC could achieve 0.84 kPa, which is very close to the measurement accuracy of pressure transducer.

  4. Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot

    Directory of Open Access Journals (Sweden)

    Jean Bosco Mbede

    2014-01-01

    Full Text Available This paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR, to cope with the difficulty introduced by the cascade structure in EFJR dynamic model, to deal with flexibility in joints, and to ensure fast tracking performance. Backstepping approach is used to ensure global asymptotic stability and its common algorithm is modified such that the link position and velocity errors converge to zero exponentially fast. In contrast with the other backstepping controller for electrically driven flexible joint robot manipulators control problem, the proposed controller is robust with respect to stiffness uncertainty and allows tracking fast motions. Simulation results are presented for both single link flexible joint electrically driven manipulator and 2-DOF flexible joint electrically driven robot manipulator. These simulations show very satisfactory tracking performances and the superiority of the proposed controller to those performed in the literature using simple backstepping methodology.

  5. Integrated control of sun shades, daylight and artificial light; Integreret regulering af solafskaermning, dagslys og kunstlys

    Energy Technology Data Exchange (ETDEWEB)

    Johnsen, K.; Christoffersen, J.; Soerensen, Henrik; Jessen, G.

    2011-07-01

    The project established a basis of calculation and a practical basis for optimum choice of solar shading and integrated control strategies for both new buildings and for office, commercial and institutional buildings to be renovated with new calculation models for controlling solar shading integrated in the BSim program. A complete and applicable model for optimum, integrated solar shading control was established, focusing on thermal and visual comfort criteria towards energy consumption for heating, cooling and lighting. A prototype was tested in the daylight laboratory at Danish Building Research Institute-Aalborg University and at University of Southern Denmark. (LN)

  6. Adaptive-Gain Second-Order Sliding Mode Control of Attitude Tracking of Flexible Spacecraft

    Directory of Open Access Journals (Sweden)

    Chutiphon Pukdeboon

    2014-01-01

    finite-time second-order sliding mode control algorithms are presented to solve this problem. For the first controller, a novel second-order sliding mode control scheme is developed to achieve high-precision tracking performance. For the second control law, an adaptive-gain second-order sliding mode control algorithm combing an adaptive law with second-order sliding mode control strategy is designed to relax the requirement of prior knowledge of the bound of the system uncertainties. The rigorous proofs show that the proposed controllers provide finite-time convergence of the attitude and angular velocity tracking errors. Numerical simulations on attitude tracking control are presented to demonstrate the performance of the developed controllers.

  7. Design of automatic real-time system with solar panels for sun tracking%太阳能电池自动实时逐日系统设计

    Institute of Scientific and Technical Information of China (English)

    蔡荣山; 杨勇; 张虹; 姚桔

    2016-01-01

    采用非易失实时时钟芯片DS12C887配合SPA算法,精确获取所在地实时太阳方位;单片机根据光功率评估电池方位驱动后所获电能及驱动耗电,优化驱动的时间间隔;不驱动时,系统掉电.该方案具有断电重启方便,实时跟踪,太阳能电池效能高的优势,具有一定的应用价值.%This scheme uses a nonvolatile real-time clock chip DS12C887 to precisely obtain realtime position of the sun by adopting SPA algorithm.SCM assesses the obtained electrical energy and driving energy consumption according to the optical power after the direction driving of the solar cell,and then optimizes the intervals of the driving.The system is in a brown-out condition when it is not driving.This scheme has the following advantages:convenient re-initialization after outage,real-time sun-tracking function,efficient solar cells and some application values.

  8. An Improvement of a Fuzzy Logic-Controlled Maximum Power Point Tracking Algorithm for Photovoltic Applications

    Directory of Open Access Journals (Sweden)

    Woonki Na

    2017-03-01

    Full Text Available This paper presents an improved maximum power point tracking (MPPT algorithm using a fuzzy logic controller (FLC in order to extract potential maximum power from photovoltaic cells. The objectives of the proposed algorithm are to improve the tracking speed, and to simultaneously solve the inherent drawbacks such as slow tracking in the conventional perturb and observe (P and O algorithm. The performances of the conventional P and O algorithm and the proposed algorithm are compared by using MATLAB/Simulink in terms of the tracking speed and steady-state oscillations. Additionally, both algorithms were experimentally validated through a digital signal processor (DSP-based controlled-boost DC-DC converter. The experimental results show that the proposed algorithm performs with a shorter tracking time, smaller output power oscillation, and higher efficiency, compared with the conventional P and O algorithm.

  9. Finite-Time Control for Robust Tracking Consensus in MASs With an Uncertain Leader.

    Science.gov (United States)

    Lu, Xiaoqing; Wang, Yaonan; Yu, Xinghuo; Lai, Jingang

    2016-03-31

    This paper investigates the finite-time control for robust tracking consensus problems of multiagent systems with an uncertain leader for situations where the state of the considered active leader may not be measured and the directed network topology is time-varying. Based on the neighbor-based state-estimation rule and a new Lyapunov stability analysis method, a continuous and nonlinear distributed tracking protocol using only relative position information is designed, under which each agent can follow the leader in finite time if the input (acceleration) of the leader is known, and the tracking errors can converge to a bounded region in finite time if the input of the leader is unknown. In particular, a special continuous distributed tracking protocol with bounded control inputs is introduced to track the active leader in finite time. Numerical simulations are also given to illustrate the effectiveness of the theoretic results.

  10. Adaptive statistic tracking control based on two-step neural networks with time delays.

    Science.gov (United States)

    Yi, Yang; Guo, Lei; Wang, Hong

    2009-03-01

    This paper presents a new type of control framework for dynamical stochastic systems, called statistic tracking control (STC). The system considered is general and non-Gaussian and the tracking objective is the statistical information of a given target probability density function (pdf), rather than a deterministic signal. The control aims at making the statistical information of the output pdfs to follow those of a target pdf. For such a control framework, a variable structure adaptive tracking control strategy is first established using two-step neural network models. Following the B-spline neural network approximation to the integrated performance function, the concerned problem is transferred into the tracking of given weights. The dynamic neural network (DNN) is employed to identify the unknown nonlinear dynamics between the control input and the weights related to the integrated function. To achieve the required control objective, an adaptive controller based on the proposed DNN is developed so as to track a reference trajectory. Stability analysis for both the identification and tracking errors is developed via the use of Lyapunov stability criterion. Simulations are given to demonstrate the efficiency of the proposed approach.

  11. Collaborative process control: Observation of tracks generated by PLM system

    CERN Document Server

    Elkadiri, Soumaya; Delattre, Miguel; Bouras, Abdelaziz

    2008-01-01

    This paper aims at analyzing the problems related to collaborative work using a PLM system. This research is mainly focused on the organisational aspects of SMEs involved in networks composed of large companies, subcontractors and other industrial partners. From this analysis, we propose the deployment of an approach based on an observation process of tracks generated by PLM system. The specific contributions are of two fold. First is to identify the brake points of collaborative work. The second, thanks to the exploitation of generated tracks, it allows reducing risks by reacting in real time to the incidents or dysfunctions that may occur. The overall system architecture based on services technology and supporting the proposed approach is described, as well as associated prototype developed using an industrial PLM system.

  12. Online Tracking Control of Autonomous Mobile Robot Utilizing Optimal Formulation

    Science.gov (United States)

    Hirakoso, Nobuto; Takizawa, Takahiro; Ishihara, Masaaki; Aoki, Kouzou

    In this study, the objective is to build a wheeled mobile robot which can move independently avoiding obstacles. To move autonomously, this robot is enabled to detect obstacles' shapes and conduct self-localization. Also, this robot can move by tracking trajectories designed by the robot itself, based on the information about the obstacles' shapes and the robot's position and attitude angle. The optimal trajectories which lead the robot to its destination are designed by using a unique optimization method. As convergent calculation is performed by setting the variables within a certain range in this proposed optimization method, the optimal solutions can be obtained approximately, even in cases where there is a difference between the number of input and output variables, and when the nonlinearity is strong with restraint conditions. In this thesis, the effectiveness of the optimal track designing method used is proven and the method deemed as appropriate.

  13. Controlling a transfer trajectory with realistic impulses assumming perturbations in the Sun-Earth-Moon Quasi-Bicircular Problem

    Science.gov (United States)

    Leiva, A. M.; Briozzo, C. B.

    In a previous work we successfully implemented a control algorithm to stabilize unstable periodic orbits in the Sun-Earth-Moon Quasi-Bicircular Problem (QBCP). Applying the same techniques, in this work we stabilize an unstable trajectory performing fast transfers between the Earth and the Moon in a dynamical system similar to the QBCP but incorporating the gravitational perturbation of the planets Mercury, Venus, Mars, Jupiter, Saturn, Uranus, and Neptune, assumed to move on circular coplanar heliocentric orbits. In the control stage we used as a reference trajectory an unstable periodic orbit from the unperturbed QBCP. We performed 400 numerical experiments integrating the trajectories over time spans of ~40 years, taking for each one random values for the initial positions of the planets. In all cases the control impulses applied were larger than 20 cm/s, consistently with realistic implementations. The minimal and maximal yearly mean consumptions were ~10 m/s and ~71 m/s, respectively. FULL TEXT IN SPANISH

  14. TF/TA2 trajectory tracking using nonlinear predictive control approach

    Institute of Scientific and Technical Information of China (English)

    Tang Qiang; Zhang Xinguo; Liu Xicheng

    2006-01-01

    The use of a methodology of nonlinear continuous predictive control to design the guidance control law for the aircraft TF/TA2 trajectory tracking problem is emplojed. For the derivation of the predictive control law, by using Taylor series expansion, and based on optimizing a performance index which is a quadratic function of both the predictive value of the state variables and the control inputs, a state variable feedback controller for nonlinear systems is obtained, and it provides a tradeoff between satisfactory tracking performance and the control magnitude requirements. Numerical simulation results for a supersonic fighter aircraft model show the viability of this approach.

  15. Robust formation tracking control of mobile robots via one-to-one time-varying communication

    Science.gov (United States)

    Dasdemir, Janset; Loría, Antonio

    2014-09-01

    We solve the formation tracking control problem for mobile robots via linear control, under the assumption that each agent communicates only with one 'leader' robot and with one follower, hence forming a spanning-tree topology. We assume that the communication may be interrupted on intervals of time. As in the classical tracking control problem for non-holonomic systems, the swarm is driven by a fictitious robot which moves about freely and which is a leader to one robot only. Our control approach is decentralised and the control laws are linear with time-varying gains; in particular, this accounts for the case when position measurements may be lost over intervals of time. For both velocity-controlled and force-controlled systems, we establish uniform global exponential stability, hence consensus formation tracking, for the error system under a condition of persistency of excitation on the reference angular velocity of the virtual leader and on the control gains.

  16. Controlling High-Resolution LROC NAC Polar Mosaics to LOLA Track Data

    Science.gov (United States)

    Archinal, B.; Lee, E.; Weller, L.; Richie, J.; Edmundson, K.; Laura, J.; Robinson, M.; Speyerer, E.; Boyd, A.; Bowman-Cisneros, E.; Wagner, R.; Nefian, A.

    2016-11-01

    We describe our progress on completing 1 m resolution geodetically controlled LROC NAC illumination mosaics of both lunar poles out to 85 degrees latitude, constrained using matching to LOLA track data.

  17. Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding

    Directory of Open Access Journals (Sweden)

    Mingyue Cui

    2012-11-01

    Full Text Available An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time-varying parameters. A sliding model observer is introduced to estimate the sliding parameters online. A stable tracking control law for this nonholonomic system is proposed to compensate the unknown sliding effect. From Lyapunov-stability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed-loop system are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region. The efficiency and robustness of the proposed control system are verified by simulation results.

  18. Finite-Time Control for Attitude Tracking Maneuver of Rigid Satellite

    Directory of Open Access Journals (Sweden)

    Mingyi Huo

    2014-01-01

    Full Text Available The problem of finite-time control for attitude tracking maneuver of a rigid spacecraft is investigated. External disturbance, unknown inertia parameters are addressed. As stepping stone, a sliding mode controller is designed. It requires the upper bound of the lumped uncertainty including disturbance and inertia matrix. However, this upper bound may not be easily obtained. Therefore, an adaptive sliding mode control law is then proposed to release that drawback. Adaptive technique is applied to estimate that bound. It is proved that the closed-loop attitude tracking system is finite-time stable. The tracking errors of the attitude and the angular velocity are asymptotically stabilized. Moreover, the upper bound on the lumped uncertainty can be exactly estimated in finite time. The attitude tracking performance with application of the control scheme is evaluated through a numerical example.

  19. H∞ output tracking control of discrete-time nonlinear systems via standard neural network models.

    Science.gov (United States)

    Liu, Meiqin; Zhang, Senlin; Chen, Haiyang; Sheng, Weihua

    2014-10-01

    This brief proposes an output tracking control for a class of discrete-time nonlinear systems with disturbances. A standard neural network model is used to represent discrete-time nonlinear systems whose nonlinearity satisfies the sector conditions. H∞ control performance for the closed-loop system including the standard neural network model, the reference model, and state feedback controller is analyzed using Lyapunov-Krasovskii stability theorem and linear matrix inequality (LMI) approach. The H∞ controller, of which the parameters are obtained by solving LMIs, guarantees that the output of the closed-loop system closely tracks the output of a given reference model well, and reduces the influence of disturbances on the tracking error. Three numerical examples are provided to show the effectiveness of the proposed H∞ output tracking design approach.

  20. Techniques for Tracking, Evaluating, and Reporting the Implementation of Nonpoint Source Control Measures - Forestry

    Science.gov (United States)

    This guidance is intended to assist state, regional, and local environmental professionals in tracking the implementation of best management practices (BMPs) used to control nonpoint source pollution generated by forestry practices.

  1. Observer-based linear parameter varying H∞ tracking control for hypersonic vehicles

    Directory of Open Access Journals (Sweden)

    Yiqing Huang

    2016-11-01

    Full Text Available This article aims to develop observer-based linear parameter varying output feedback H∞ tracking controller for hypersonic vehicles. Due to the complexity of an original nonlinear model of the hypersonic vehicle dynamics, a slow–fast loop linear parameter varying polytopic model is introduced for system stability analysis and controller design. Then, a state observer is developed by linear parameter varying technique in order to estimate the unmeasured attitude angular for slow loop system. Also, based on the designed linear parameter varying state observer, a kind of attitude tracking controller is presented to reduce tracking errors for all bounded reference attitude angular inputs. The closed-loop linear parameter varying system is proved to be quadratically stable by Lypapunov function technique. Finally, simulation results show that the developed linear parameter varying H∞ controller has good tracking capability for reference commands.

  2. Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots With Unknown Sliding

    Directory of Open Access Journals (Sweden)

    Mingyue Cui

    2012-11-01

    Full Text Available An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time‐varying parameters. A sliding model observer is introduced to estimate the sliding parameters online. A stable tracking control law for this nonholonomic system is proposed to compensate the unknown sliding effect. From Lyapunov‐stability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed‐loop system are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region. The efficiency and robustness of the proposed control system are verified by simulation results.

  3. Smooth Sliding Mode Control for Trajectory Tracking of Greenhouse Spraying Mobile Robot

    Directory of Open Access Journals (Sweden)

    Fang Zhiming

    2013-02-01

    Full Text Available For the spraying mobile robot working in greenhouse, due to the inconsistency of drive motors and the rough walking surface, it is easy to track off. For the liquidity of pesticide, the load always changes even the speed jumps. Because of these uncertainties, external disturbances and the difficulty of constructing the system dynamic model, it is hard to implement the trajectory tracking control of the spraying mobile robot steadily, precisely and quickly. In order to solve the problem, a smooth sliding mode trajectory tracking control method is proposed based on the distribute control strategy for each branch. Moreover, its stability is proved using the Lyapunov function. The simulation results show that the proposed method can track the reference trajectories precisely, quickly and steadily under the strong white noise. The chattering phenomenon of the control law is restrained compared to the conventional sliding mode control. The trajectory tracking performance is better than that of the fuzzy control. The designed method is easy to realize and doesn’t need to construct the precise mathematical model, so, it affords an economical and convenient control method for solving the trajectory tracking problem of the greenhouse spraying mobile robot under various uncertain interferences.

  4. Assessing the potential of Sun-Induced Fluorescence and the Canopy Scattering Coefficient to track large-scale vegetation dynamics in Amazon forests

    Science.gov (United States)

    Köhler, P.; Guanter, L.; Kobayashi, H.; Walther, S.

    2016-12-01

    Two new remote sensing vegetation parameters derived from spaceborne spectrometers and simulated with a three dimensional radiative transfer model have been evaluated in terms of their prospects and drawbacks for the monitoring of dense vegetation canopies: (i) sun-induced chlorophyll fluorescence (SIF), a unique signal emitted by photosynthetically active vegetation and (ii) the canopy scattering coefficient (CSC), a vegetation parameter derived along with the directional area scattering factor (DASF) and expected to be particularly sensitive to leaf optical properties. Here, we present the first global data set of DASF/CSC and examine the potential of CSC and SIF for providing complementary information on the controversially discussed vegetation seasonality in the Amazon rainforest. A comparison between near-infrared SIF derived from the Global Ozone Monitoring Experiment-2 (GOME-2) instrument and the Orbiting Carbon Observatory-2 (OCO-2) (overpass time in the morning and noon, respectively) reveals the response of SIF to instantaneous photosynthetically active radiation (PAR) and the response of SIF to changing pigment concentrations ('green-up'). The observed seasonality of SIF largely depends on the satellite overpass time which is due to changing temporal trajectories of (instantaneous) PAR with daytime. Therefore, GOME-2 SIF reaches its seasonal maximum in October and around February, while OCO-2 SIF peaks in February and November. We further examine anisotropic reflectance characteristics with the finding that the hot spot effect significantly impacts observed GOME-2 SIF values. On the contrary, our sensitivity analysis suggests that CSC is highly independent of sun-sensor geometry as well as atmospheric effects. The slight annual variability of CSC shows a seasonal cycle attributable to variations in leaf area and/or the amount of precipitation, rather supporting the 'green-up' hypothesis for periods of less intense precipitation.

  5. The Extreme Ultraviolet and X-Ray Sun in Time: High-Energy Evolutionary Tracks of a Solar-Like Star

    CERN Document Server

    Tu, Lin; Güdel, Manuel; Lammer, Helmut

    2015-01-01

    Aims. We aim to describe the pre-main sequence and main-sequence evolution of X-ray and extreme-ultaviolet radiation of a solar mass star based on its rotational evolution starting with a realistic range of initial rotation rates. Methods. We derive evolutionary tracks of X-ray radiation based on a rotational evolution model for solar mass stars and the rotation-activity relation. We compare these tracks to X-ray luminosity distributions of stars in clusters with different ages. Results. We find agreement between the evolutionary tracks derived from rotation and the X-ray luminosity distributions from observations. Depending on the initial rotation rate, a star might remain at the X-ray saturation level for very different time periods, approximately from 10 Myr to 300 Myr for slow and fast rotators, respectively. Conclusions. Rotational evolution with a spread of initial conditions leads to a particularly wide distribution of possible X-ray luminosities in the age range of 20 to 500 Myrs, before rotational co...

  6. The extreme ultraviolet and X-ray Sun in Time: High-energy evolutionary tracks of a solar-like star

    Science.gov (United States)

    Tu, Lin; Johnstone, Colin P.; Güdel, Manuel; Lammer, Helmut

    2015-05-01

    Aims: We aim to describe the pre-main-sequence and main-sequence evolution of X-ray and extreme-ultaviolet radiation of a solar-mass star based on its rotational evolution starting with a realistic range of initial rotation rates. Methods: We derive evolutionary tracks of X-ray radiation based on a rotational evolution model for solar-mass stars and the rotation-activity relation. We compare these tracks to X-ray luminosity distributions of stars in clusters with different ages. Results: We find agreement between the evolutionary tracks derived from rotation and the X-ray luminosity distributions from observations. Depending on the initial rotation rate, a star might remain at the X-ray saturation level for very different time periods, from ≈10 Myr to ≈300 Myr for slow and fast rotators, respectively. Conclusions: Rotational evolution with a spread of initial conditions leads to a particularly wide distribution of possible X-ray luminosities in the age range of 20-500 Myr, before rotational convergence and therefore X-ray luminosity convergence sets in. This age range is crucial for the evolution of young planetary atmospheres and may thus lead to very different planetary evolution histories.

  7. An Adaptive Tracking Control of Fractional-Order Chaotic Systems with Uncertain System Parameter

    Directory of Open Access Journals (Sweden)

    Ping Zhou

    2011-01-01

    Full Text Available An adaptive tracking control scheme is presented for fractional-order chaotic systems with uncertain parameter. It is theoretically proved that this approach can make the uncertain parameter fractional-order chaotic system track any given reference signal and the uncertain system parameter is estimated through the adaptive tracking control process. Furthermore, the reference signal may belong to other integer-orders chaotic system or belong to different fractional-order chaotic system with different fractional orders. Two examples are presented to demonstrate the effectiveness of the proposed method.

  8. Backstepping based Trajectory Tracking Control of a Four Wheeled Mobile Robot

    Directory of Open Access Journals (Sweden)

    Nagarajan Sukavanam

    2008-11-01

    Full Text Available For a four wheeled mobile robot a trajectory tracking concept is developed based on its kinematics. A trajectory is a time?indexed path in the plane consisting of position and orientation .The mobile robot is modeled as a non holonomic system subject to pure rolling , no slip constraints.To facilitate the controller design the kinematic equation can be converted into chained form using some change of co-ordinates.From the kinematic model of the robot a backstepping based tracking controller is derived. Simulation results demonstrate such trajectory tracking strategy for the kinematics indeed gives rise to an effective methodology to follow the desired trajectory asymptotically.

  9. Maximum Power Point Tracking and Reactive Power Control of Single Stage Grid Connected Photovoltaic System

    OpenAIRE

    2011-01-01

    Single-stage grid-connected Photovoltaic (PV) systems have advantages such as simple topology, high efficiency, etc. However, since all the control objectives such as the maximum power point tracking (with the utility voltage, and harmonics reduction for output current need to be considered simultaneously, the complexity of the control scheme is much increased. In this paper a new type of grid connected photovoltaic (PV) system with Maximum Power Point Tracking (MPPT) and reactive power simul...

  10. Fixed-Star Tracking Attitude Control of Spacecraft Using Single-Gimbal Control Moment Gyros

    Directory of Open Access Journals (Sweden)

    Sangwon Kwon

    2010-01-01

    Full Text Available Problem statement: A cluster of small-sized Single-Gimbal Control Moment Gyros (SGCMGs is proposed as an attitude control actuator for high-speed maneuver of small satellites. There exists a singularity problem what is peculiar to the CMG system. Approach: This study presented a simple singularity avoidance steering law using the Singular Value Decomposition (SVD algorithm. Results: Capability of the present steering method in singularity avoidance was demonstrated with numerical simulations for fixed-star tracking control of a small satellite using four SGCMGs. Conclusion: The proposed steering law utilizes the singular value decomposition to obtain singular vectors and generates the command gimbal rate that keeps the command torque in the direction orthogonal to the singular direction with a maximum gain.

  11. Observer-Based Adaptive Neural Network Trajectory Tracking Control for Remotely Operated Vehicle.

    Science.gov (United States)

    Chu, Zhenzhong; Zhu, Daqi; Yang, Simon X

    2017-07-01

    This paper focuses on the adaptive trajectory tracking control for a remotely operated vehicle (ROV) with an unknown dynamic model and the unmeasured states. Unlike most previous trajectory tracking control approaches, in this paper, the velocity states and the angular velocity states in the body-fixed frame are unmeasured, and the thrust model is inaccurate. Obviously, it is more in line with the actual ROV systems. Since the dynamic model is unknown, a new local recurrent neural network (local RNN) structure with fast learning speed is proposed for online identification. To estimate the unmeasured states, an adaptive terminal sliding-mode state observer based on the local RNN is proposed, so that the finite-time convergence of the trajectory tracking error can be guaranteed. Considering the problem of inaccurate thrust model, an adaptive scale factor is introduced into thrust model, and the thruster control signal is considered as the input of the trajectory tracking system directly. Based on the local RNN output, the adaptive scale factor, and the state estimation values, an adaptive trajectory tracking control law is constructed. The stability of the trajectory tracking control system is analyzed by the Lyapunov theorem. The effectiveness of the proposed control scheme is illustrated by simulations.

  12. On-Line Tracking Controller for Brushless DC Motor Drives Using Artificial Neural Networks

    Science.gov (United States)

    Rubaai, Ahmed

    1996-01-01

    A real-time control architecture is developed for time-varying nonlinear brushless dc motors operating in a high performance drives environment. The developed control architecture possesses the capabilities of simultaneous on-line identification and control. The dynamics of the motor are modeled on-line and controlled using an artificial neural network, as the system runs. The control architecture combines the experience and dependability of adaptive tracking systems with potential and promise of the neural computing technology. The sensitivity of real-time controller to parametric changes that occur during training is investigated. Such changes are usually manifested by rapid changes in the load of the brushless motor drives. This sudden change in the external load is simulated for the sigmoidal and sinusoidal reference tracks. The ability of the neuro-controller to maintain reasonable tracking accuracy in the presence of external noise is also verified for a number of desired reference trajectories.

  13. Adaptive backstepping finite-time sliding mode control of spacecraft attitude tracking

    Institute of Scientific and Technical Information of China (English)

    Chutiphon Pukdeboon

    2015-01-01

    This paper investigates the finite-time attitude tracking problem for rigid spacecraft. Two backstepping finite-time slid-ing mode control laws are proposed to solve this problem in the presence of inertia uncertainties and external disturbances. The first control scheme is developed by combining sliding mode con-trol with a backstepping technique to achieve fast and accurate tracking responses. To obtain higher tracking precision and relax the requirement of the upper bounds on the uncertainties, a se-cond control law is also designed by combining the second or-der sliding mode control and an adaptive backstepping technique. This control law provides complete compensation of uncertainty and disturbances. Although it assumes that the uncertainty and disturbances are bounded, the proposed control law does not require information about the bounds on the uncertainties and disturbances. Finite-time convergence of attitude tracking errors and the stability of the closed-loop system are ensured by the Lya-punov approach. Numerical simulations on attitude tracking control of spacecraft are provided to demonstrate the performance of the proposed control ers.

  14. Sliding mode output feedback control based on tracking error observer with disturbance estimator.

    Science.gov (United States)

    Xiao, Lingfei; Zhu, Yue

    2014-07-01

    For a class of systems who suffers from disturbances, an original output feedback sliding mode control method is presented based on a novel tracking error observer with disturbance estimator. The mathematical models of the systems are not required to be with high accuracy, and the disturbances can be vanishing or nonvanishing, while the bounds of disturbances are unknown. By constructing a differential sliding surface and employing reaching law approach, a sliding mode controller is obtained. On the basis of an extended disturbance estimator, a creative tracking error observer is produced. By using the observation of tracking error and the estimation of disturbance, the sliding mode controller is implementable. It is proved that the disturbance estimation error and tracking observation error are bounded, the sliding surface is reachable and the closed-loop system is robustly stable. The simulations on a servomotor positioning system and a five-degree-of-freedom active magnetic bearings system verify the effect of the proposed method.

  15. Research on regional intrusion prevention and control system based on target tracking

    Science.gov (United States)

    Liu, Yanfei; Wang, Jieling; Jiang, Ke; He, Yanhui; Wu, Zhilin

    2017-08-01

    In view of the fact that China’s border is very long and the border prevention and control measures are single, we designed a regional intrusion prevention and control system which based on target-tracking. The system consists of four parts: solar panel, radar, electro-optical equipment, unmanned aerial vehicle and intelligent tracking platform. The solar panel provides independent power for the entire system. The radar detects the target in real time and realizes the high precision positioning of suspicious targets, then through the linkage of electro-optical equipment, it can achieve full-time automatic precise tracking of targets. When the target appears within the range of detection, the drone will be launched to continue the tracking. The system is mainly to realize the full time, full coverage, whole process integration and active realtime control of the border area.

  16. An international track wheelchair with a center of gravity directional controller.

    Science.gov (United States)

    Cooper, R A

    1989-01-01

    An international track wheelchair (ITWC) with a center of gravity directional controller (COGDC) is described in this paper. The rules for international track competition disallow devices designed solely for steering. Equipment has been disqualified for having steering handles, crown compensators, and other lever systems. However, the rules do allow tie-rod linkage and the use of springs for dampening caster flutter. The chair described in this paper exploits the physical properties of wheeled vehicles to achieve directional control on the track. This controller is effective, because turning is only required in one direction. Three such track wheelchairs have been developed and were used at the Paralympics in Seoul, Korea, in October of 1988.

  17. Track Settling Control System to Reduce Residual Vibration during Track Seek of Magnetic Disk Drives

    National Research Council Canada - National Science Library

    Nakagawa, Shinsuke; Yamaguchi, Takashi

    2003-01-01

    .... These mode switching controllers provide fast access and accurate positioning. The requirement of faster seeking in magnetic disk drives propagates residual vibration during settling due to the mechanical resonance of the positioning system...

  18. Robust attitude control for rapid multi-target tracking in spacecraft formation flying

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    A robust attitude tracking control scheme for spacecraft formation flying is presented.The leader spacecraft with a.rapid mobile antenna and a camera is modeled.While the camera is tracking the ground target,the antenna is tracking the follower spacecraft.By an angular velocity constraint and an angular constraint,two methods are proposed to compute the reference attitude profiles of the camera and antenna,respectively.To simplify the control design problem,this paper first derives the desired inverse system (DIS),which can convert the attitude tracking problem of 3D space into the regulator problem.Based on DIS and sliding mode control (SMC),a robust attitude tracking controller is developed in the presence of mass parameter uncertainties and external disturbance.By Lyapunov stability theory,the closed loop system stability can be achieved.The numerical simulations show that the proposed robust control scheme exhibits significant advantages for the multi-target attitude tracking of a two-spacecraft formation.

  19. Tracking control of piezoelectric actuators using a polynomial-based hysteresis model

    Science.gov (United States)

    Gan, Jinqiang; Zhang, Xianmin; Wu, Heng

    2016-06-01

    A polynomial-based hysteresis model that describes hysteresis behavior in piezoelectric actuators is presented. The polynomial-based model is validated by comparing with the classic Prandtl-Ishlinskii model. Taking the advantages of the proposed model into consideration, inverse control using the polynomial-based model is proposed. To achieve better tracking performance, a hybrid control combining the developed inverse control and a proportional-integral-differential feedback loop is then proposed. To demonstrate the effectiveness of the proposed tracking controls, several comparative experiments of the polynomial-based model and Prandtl-Ishlinskii model are conducted. The experimental results show that inverse control and hybrid control using the polynomial-based model in trajectory-tracking applications are effective and meaningful.

  20. Intelligent Tracking Control for a Class of Uncertain High-Order Nonlinear Systems.

    Science.gov (United States)

    Zhao, Xudong; Shi, Peng; Zheng, Xiaolong; Zhang, Jianhua

    2016-09-01

    This brief is concerned with the problem of intelligent tracking control for a class of high-order nonlinear systems with completely unknown nonlinearities. An intelligent adaptive control algorithm is presented by combining the adaptive backstepping technique with the neural networks' approximation ability. It is shown that the practical output tracking performance of the system is achieved using the proposed state-feedback controller under two mild assumptions. In particular, by introducing a parameter in the derivations, the tracking error between the time-varying target signal and the output can be reduced via tuning the controller design parameters. Moreover, in order to solve the problem of overparameterization, which is a common issue in adaptive control design, a controller with one adaptive law is also designed. Finally, simulation results are given to show the effectiveness of the theoretical approaches and the potential of the proposed new design techniques.

  1. Mixed Tracking and Projective Synchronization of 5D Hyperchaotic System Using Active Control

    Science.gov (United States)

    Ojo, Kayode; Ogunjo, Samuel T.; Williams, Oluwafemi

    2013-08-01

    This paper examines mixed tracking control and hy- brid synchronization of two identical 5-D hyperchaotic Lorenz systems via active control technique. The de- signed control functions for the mixed tracking enable each of the system state variables to stabilize at differ- ent chosen positions as well as control each state vari- ables of the system to track different desired smooth function of time. Also, the active control technique is used to design control functions which achieve projec- tive synchronization between the slave state variables and the master state variables. We also show that the coupling strength is inversely proportional to the syn- chronization time. Numerical simulations are carried out to validate the effectiveness of the analytical tech- nique.

  2. Neural network-based adaptive consensus tracking control for multi-agent systems under actuator faults

    Science.gov (United States)

    Zhao, Lin; Jia, Yingmin

    2016-06-01

    In this paper, a distributed output feedback consensus tracking control scheme is proposed for second-order multi-agent systems in the presence of uncertain nonlinear dynamics, external disturbances, input constraints, and partial loss of control effectiveness. The proposed controllers incorporate reduced-order filters to account for the unmeasured states, and the neural networks technique is implemented to approximate the uncertain nonlinear dynamics in the synthesis of control algorithms. In order to compensate the partial loss of actuator effectiveness faults, fault-tolerant parts are included in controllers. Using the Lyapunov approach and graph theory, it is proved that the controllers guarantee a group of agents that simultaneously track a common time-varying state of leader, even when the state of leader is available only to a subset of the members of a group. Simulation results are provided to demonstrate the effectiveness of the proposed consensus tracking method.

  3. Global Output-Feedback Control for Simultaneous Tracking and Stabilization of Wheeled Mobile Robots

    Science.gov (United States)

    Chang, J.; Zhang, L. J.; Xue, D.

    A time-varying global output-feedback controller is presented that solves both tracking and stabilization for wheeled mobile robots simultaneously at the torque level. The controller synthesis is based on a coordinate transformation, Lyapunov direct method and backstepping technique. The performance of the proposed controller is demonstrated by simulation.

  4. Tracking Control of Fully-actuated port-Hamiltonian Mechanical Systems using Sliding Manifolds and Contraction

    NARCIS (Netherlands)

    Reyes Báez, Rodolfo; van der Schaft, Abraham; Jayawardhana, Bayu

    2017-01-01

    In this paper, we propose a novel trajectory tracking controller for fully-actuated mechanical port-Hamiltonian (pH) systems, which is based on recent advances in contraction- based control theory. Our proposed controller renders a desired sliding manifold (where the reference trajectory lies) attra

  5. The Sun Radio Imaging Space Experiment (SunRISE) Mission

    Science.gov (United States)

    Lazio, Joseph; Kasper, Justin; Maksimovic, Milan; Alibay, Farah; Amiri, Nikta; Bastian, Tim; Cohen, Christina; Landi, Enrico; Manchester, Ward; Reinard, Alysha; Schwadron, Nathan; Cecconi, Baptiste; Hallinan, Gregg; Hegedus, Alex; Krupar, Vratislav; Zaslavsky, Arnaud

    2017-04-01

    Radio emission from coronal mass ejections (CMEs) is a direct tracer of particle acceleration in the inner heliosphere and potential magnetic connections from the lower solar corona to the larger heliosphere. Energized electrons excite Langmuir waves, which then convert into intense radio emission at the local plasma frequency, with the most intense acceleration thought to occur within 20 RS. The radio emission from CMEs is quite strong such that only a relatively small number of antennas is required to detect and map it, but many aspects of this particle acceleration and transport remain poorly constrained. Ground-based arrays would be quite capable of tracking the radio emission associated with CMEs, but absorption by the Earth's ionosphere limits the frequency coverage of ground-based arrays (ν ≳ 15 MHz), which in turn limits the range of solar distances over which they can track the radio emission (≲ 3RS). The state-of-the-art for tracking such emission from space is defined by single antennas (Wind/WAVES, Stereo/SWAVES), in which the tracking is accomplished by assuming a frequency-to-density mapping; there has been some success in triangulating the emission between the spacecraft, but considerable uncertainties remain. We describe the Sun Radio Imaging Space Experiment (SunRISE) mission concept: A constellation of small spacecraft in a geostationary graveyard orbit designed to localize and track radio emissions in the inner heliosphere. Each spacecraft would carry a receiving system for observations below 25 MHz, and SunRISE would produce the first images of CMEs more than a few solar radii from the Sun. Part of this research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.

  6. Eye Tracking Outcomes in Tobacco Control Regulation and Communication: A Systematic Review

    Science.gov (United States)

    Meernik, Clare; Jarman, Kristen; Wright, Sarah Towner; Klein, Elizabeth G.; Goldstein, Adam O.; Ranney, Leah

    2016-01-01

    Objective In this paper we synthesize the evidence from eye tracking research in tobacco control to inform tobacco regulatory strategies and tobacco communication campaigns. Methods We systematically searched 11 databases for studies that reported eye tracking outcomes in regards to tobacco regulation and communication. Two coders independently reviewed studies for inclusion and abstracted study characteristics and findings. Results Eighteen studies met full criteria for inclusion. Eye tracking studies on health warnings consistently showed these warnings often were ignored, though eye tracking demonstrated that novel warnings, graphic warnings, and plain packaging can increase attention toward warnings. Eye tracking also revealed that greater visual attention to warnings on advertisements and packages consistently was associated with cognitive processing as measured by warning recall. Conclusions Eye tracking is a valid indicator of attention, cognitive processing, and memory. The use of this technology in tobacco control research complements existing methods in tobacco regulatory and communication science; it also can be used to examine the effects of health warnings and other tobacco product communications on consumer behavior in experimental settings prior to the implementation of novel health communication policies. However, the utility of eye tracking will be enhanced by the standardization of methodology and reporting metrics. PMID:27668270

  7. Eye Tracking Outcomes in Tobacco Control Regulation and Communication: A Systematic Review.

    Science.gov (United States)

    Meernik, Clare; Jarman, Kristen; Wright, Sarah Towner; Klein, Elizabeth G; Goldstein, Adam O; Ranney, Leah

    2016-10-01

    In this paper we synthesize the evidence from eye tracking research in tobacco control to inform tobacco regulatory strategies and tobacco communication campaigns. We systematically searched 11 databases for studies that reported eye tracking outcomes in regards to tobacco regulation and communication. Two coders independently reviewed studies for inclusion and abstracted study characteristics and findings. Eighteen studies met full criteria for inclusion. Eye tracking studies on health warnings consistently showed these warnings often were ignored, though eye tracking demonstrated that novel warnings, graphic warnings, and plain packaging can increase attention toward warnings. Eye tracking also revealed that greater visual attention to warnings on advertisements and packages consistently was associated with cognitive processing as measured by warning recall. Eye tracking is a valid indicator of attention, cognitive processing, and memory. The use of this technology in tobacco control research complements existing methods in tobacco regulatory and communication science; it also can be used to examine the effects of health warnings and other tobacco product communications on consumer behavior in experimental settings prior to the implementation of novel health communication policies. However, the utility of eye tracking will be enhanced by the standardization of methodology and reporting metrics.

  8. Study protocol: a randomised controlled trial of a theory-based online intervention to improve sun safety among Australian adults

    OpenAIRE

    Cleary, Cathy M; White, Katherine M; Young, Ross McD; Hawkes, Anna L; Leske, Stuart; Starfelt, Louise C; Wihardjo, Kylie

    2014-01-01

    Background The effects of exposure to ultraviolet radiation are a significant concern in Australia which has one of the highest incidences of skin cancer in the world. Despite most skin cancers being preventable by encouraging consistent adoption of sun-protective behaviours, incidence rates are not decreasing. There is a dearth of research examining the factors involved in engaging in sun-protective behaviours. Further, online multi-behavioural theory-based interventions have yet to be explo...

  9. Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems.

    Science.gov (United States)

    Chen, Mou; Wu, Qing-Xian; Cui, Rong-Xin

    2013-03-01

    In this paper, the terminal sliding mode tracking control is proposed for the uncertain single-input and single-output (SISO) nonlinear system with unknown external disturbance. For the unmeasured disturbance of nonlinear systems, terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in the finite time. Based on the output of designed disturbance observer, the terminal sliding mode tracking control is presented for uncertain SISO nonlinear systems. Subsequently, terminal sliding mode tracking control is developed using disturbance observer technique for the uncertain SISO nonlinear system with control singularity and unknown non-symmetric input saturation. The effects of the control singularity and unknown input saturation are combined with the external disturbance which is approximated using the disturbance observer. Under the proposed terminal sliding mode tracking control techniques, the finite time convergence of all closed-loop signals are guaranteed via Lyapunov analysis. Numerical simulation results are given to illustrate the effectiveness of the proposed terminal sliding mode tracking control.

  10. Comparison of Extremum-Seeking Control Techniques for Maximum Power Point Tracking in Photovoltaic Systems

    Directory of Open Access Journals (Sweden)

    Chen-Han Wu

    2011-12-01

    Full Text Available Due to Japan’s recent nuclear crisis and petroleum price hikes, the search for renewable energy sources has become an issue of immediate concern. A promising candidate attracting much global attention is solar energy, as it is green and also inexhaustible. A maximum power point tracking (MPPT controller is employed in such a way that the output power provided by a photovoltaic (PV system is boosted to its maximum level. However, in the context of abrupt changes in irradiance, conventional MPPT controller approaches suffer from insufficient robustness against ambient variation, inferior transient response and a loss of output power as a consequence of the long duration required of tracking procedures. Accordingly, in this work the maximum power point tracking is carried out successfully using a sliding mode extremum-seeking control (SMESC method, and the tracking performances of three controllers are compared by simulations, that is, an extremum-seeking controller, a sinusoidal extremum-seeking controller and a sliding mode extremum-seeking controller. Being able to track the maximum power point promptly in the case of an abrupt change in irradiance, the SMESC approach is proven by simulations to be superior in terms of system dynamic and steady state responses, and an excellent robustness along with system stability is demonstrated as well.

  11. Pulse width modulation-based temperature tracking for feedback control of a shape memory alloy actuator.

    Science.gov (United States)

    Ayvali, Elif; Desai, Jaydev P

    2014-04-01

    This work presents a temperature-feedback approach to control the radius of curvature of an arc-shaped shape memory alloy (SMA) wire. The nonlinear properties of the SMA such as phase transformation and its dependence on temperature and stress make SMA actuators difficult to control. Tracking a desired trajectory is more challenging than controlling just the position of the SMA actuator since the desired path is continuously changing. Consequently, tracking the desired strain directly or tracking the parameters such as temperature and electrical resistance that are related to strain with a model is a challenging task. Temperature-feedback is an attractive approach when direct measurement of strain is not practical. Pulse width modulation (PWM) is an effective method for SMA actuation and it can be used along with a compensator to control the temperature of the SMA. Using the constitutive model of the SMA, the desired temperature profile can be obtained for a given strain trajectory. A PWM-based nonlinear PID controller with a feed-forward heat transfer model is proposed to use temperature-feedback for tracking a desired temperature trajectory. The proposed controller is used during the heating phase of the SMA actuator. The controller proves to be effective in tracking step-wise and continuous trajectories.

  12. AN H∞ FUZZY TRACKING CONTROL SCHEME FOR AFFINE COUPLED SPATIO-TEMPORAL CHAOS

    Institute of Scientific and Technical Information of China (English)

    Dou Chunxia; Zhang Shuqing

    2005-01-01

    Due to the interactions among coupled spatio-temporal subsystems and the constant bias term of affine chaos, it is difficult to achieve tracking control for the affine coupled spatiotemporal chaos. However, every subsystem of the affine coupled spatio-temporal chaos can be approximated by a set of fuzzy models; every fuzzy model represents a linearized model of the subsystem corresponding to the operating point of the controlled system. Because the consequent parts of the fuzzy models have a constant bias term, it is very difficult to achieve tracking control for the affine system. Based on these fuzzy models, considering the affine constant bias term, an H∞ fuzzy tracking control scheme is proposed. A linear matrix inequality is employed to represent the feedback controller, and parameters of the controller are achieved by convex optimization techniques. The tracking control for the affine coupled spatio-temporal chaos is achieved, and the stability of the system is also guaranteed. The tracking performances are testified by simulation examples.

  13. Optimal Control Strategy for Marine Ssp Podded Propulsion Motor Based on Strong Tracking-Epf

    Directory of Open Access Journals (Sweden)

    Yao Wenlong

    2015-09-01

    Full Text Available Aiming at the non-linearity of state equation and observation equation of SSP (Siemen Schottel Propulsor propulsion motor, an improved particle filter algorithm based on strong tracking extent Kalman filter (ST-EKF was presented, and it was imported into the marine SSP propulsion motor control system. The strong tracking filter was used to update particles in the new algorithm and produce importance densities. As a result, the problems of particle degeneracy and sample impoverishment were ameliorated, the propulsion motor states and the rotor resistance were estimated simultaneously using strong track filter (STF, and the tracking ability of marine SSP propulsion motor control system was improved. Simulation result shown that the improved EPF algorithm was not only improving the prediction accuracy of the motor states and the rotor resistance, but also it can satisfy the requirement of navigation in harbor. It had the better accuracy than EPF algorithm.

  14. Recurrent fuzzy neural network backstepping control for the prescribed output tracking performance of nonlinear dynamic systems.

    Science.gov (United States)

    Han, Seong-Ik; Lee, Jang-Myung

    2014-01-01

    This paper proposes a backstepping control system that uses a tracking error constraint and recurrent fuzzy neural networks (RFNNs) to achieve a prescribed tracking performance for a strict-feedback nonlinear dynamic system. A new constraint variable was defined to generate the virtual control that forces the tracking error to fall within prescribed boundaries. An adaptive RFNN was also used to obtain the required improvement on the approximation performances in order to avoid calculating the explosive number of terms generated by the recursive steps of traditional backstepping control. The boundedness and convergence of the closed-loop system was confirmed based on the Lyapunov stability theory. The prescribed performance of the proposed control scheme was validated by using it to control the prescribed error of a nonlinear system and a robot manipulator.

  15. Design and Development of Mechanical Structure and Control System for Tracked Trailing Mobile Robot

    Directory of Open Access Journals (Sweden)

    Hongchuan Xu

    2013-02-01

    Full Text Available Along with the science and technology unceasing progress, the uses of tracing robots become more and more widely. Tracked tracing robot was adopted as the research object in this paper, mechanical structure and control system of robot was designed and developmented. In mechanical structure design part, structure designed and positioned  were completed, including design of robot body, wheel, underpan, transmission structure and the positioning of batteries, control panel, sensors, etc, and then robot dynamics was analyzed; In control section, M30245 was used as the core, according to the characteristics of tracked tracing robot differential drive, realization scheme of motion control system was put forward, system drive circuit, detection module, control program were developed. System were discussed and checked through test. From this paper tracked tracing robot was researched, and a certain design and experimental basis can be provided in future research.

  16. Quantitative feedback theory and zero phase error tracking control combined robust control for radar truck leveling simulator

    Institute of Scientific and Technical Information of China (English)

    LING; Xuan; LI; Xiao-hui; ZHU; Yu-quan; FENG; Tian-lin

    2009-01-01

    Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory(QFT)controller is designed for the radar truck leveling simulator in this paper, which suffers from strong nonlinearities and system parameter uncertainties. QFT can reduce the plant uncertainties and stabilize the system, but it fails to obtain high-precision tracking. This drawback can be solved by a robust QFT control scheme based on zero phase error tracking control(ZPETC)compensation. The combined controller not only possesses high robustness, but greatly improves the system performance. To verify the effectiveness and the potential of the proposed controller, a series of experiments have been carried out. Experimental results have demonstrated its robustness against a large range of parameters variation and high tracking precision performance, as well as its capability of restraining the load coupling among channels. The combined QFT controller can drive the radar truck leveling platform accurately, quickly and stably.

  17. Research on Single-Variable Current Perturbation Tracking Method for Maximal Power Tracking Control Method of the Solar Power Generation System

    Directory of Open Access Journals (Sweden)

    WANG Yu-xin

    2013-09-01

    Full Text Available In this paper, the traditional grid-connected PV perturbation method of disturbance near the maximum power point about the problems of shock,introduced a method based on single variable current control thought,established grid-connected PV maximum power tracking control system mathematical model, a novel single-variable current perturbation tracking method was put out, as long as the detected output current of the solar panel power generation system can achieve a stable variable maximum power tracking, through simulation and experimental study to verify the correctness of the model and the effectiveness of control methods.  

  18. Active disturbance rejection control for drag tracking in mars entry guidance

    Science.gov (United States)

    Xia, Yuanqing; Chen, Rongfang; Pu, Fan; Dai, Li

    2014-03-01

    Future Mars missions will require precision landing capability, which motivates the need for entry closed-loop guidance schemes. A new tracking law - active disturbance rejection control (ADRC) - is presented in this paper. The ability of the ADRC tracking law to handle the atmospheric models and the vehicle’s aerodynamic errors is investigated. Monte Carlo simulations with dispersions in entry state variables, drag and lift coefficients, and atmospheric density show effectiveness of the proposed algorithm.

  19. The research on algorithms for optoelectronic tracking servo control systems

    Science.gov (United States)

    Zhu, Qi-Hai; Zhao, Chang-Ming; Zhu, Zheng; Li, Kun

    2016-10-01

    The photoelectric servo control system based on PC controllers is mainly used to control the speed and position of the load. This paper analyzed the mathematical modeling and the system identification of the servo system. In the aspect of the control algorithm, the IP regulator, the fuzzy PID, the Active Disturbance Rejection Control (ADRC) and the adaptive algorithms were compared and analyzed. The PI-P control algorithm was proposed in this paper, which not only has the advantages of the PI regulator that can be quickly saturated, but also overcomes the shortcomings of the IP regulator. The control system has a good starting performance and the anti-load ability in a wide range. Experimental results show that the system has good performance under the guarantee of the PI-P control algorithm.

  20. Robust Tracking Control of Mobile Robot Formation with Obstacle Avoidance

    Directory of Open Access Journals (Sweden)

    Tiantian Yang

    2007-01-01

    scheme is formulated as online solving each optimal control problem at each sampling time. Moreover, closed-loop properties inclusive of stability and H∞ performance are discussed. Finally, simulation is performed to highlight the effectiveness of the proposed control law.

  1. Optimal boundary control of a tracking problem for a parabolic distributed system with open-loop control using evolutionary algorithms

    Directory of Open Access Journals (Sweden)

    Russel J Stonier

    2003-08-01

    Full Text Available In this paper we examine the application of evolutionary algorithms to find open-loop control solutions of the optimal control problem arising from the semidiscretisation of a linear parabolic tracking problem with boundary control. The solution is compared with the solutions obtained by methods based upon the variational equations of the Minimum Principle and the finite element method.

  2. Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs

    OpenAIRE

    Dictino Chaos; David Moreno-Salinas; Rocío Muñoz-Mansilla; Joaquín Aranda

    2013-01-01

    This work studies the problem of trajectory tracking for an underactuated RC-hovercraft, the control of which must be done by means of discrete inputs. Thus, the aim is to control a vehicle with very simple propellers that produce only a discrete set of control commands, and with minimal information about the dynamics of the actuators. The control problem is approached as a cascade control problem, where the outer loop stabilizes the position error, and the inner loop stabilizes the orientat...

  3. Maximum Power Point Tracking Using Adaptive Fuzzy Logic control for Photovoltaic System

    Directory of Open Access Journals (Sweden)

    Anass Ait Laachir

    2015-01-01

    Full Text Available This work presents an intelligent approach to the improvement and optimization of control performance of a photovoltaic system with maximum power point tracking based on fuzzy logic control. This control was compared with the conventional control based on Perturb &Observe algorithm. The results obtained in Matlab/Simulink under different conditions show a marked improvement in the performance of fuzzy control MPPT of the PV system.

  4. Attitude-Tracking Control with Path Planning for Agile Satellite Using Double-Gimbal Control Moment Gyros

    Directory of Open Access Journals (Sweden)

    Peiling Cui

    2012-01-01

    Full Text Available In view of the issue of rapid attitude maneuver control of agile satellite, this paper presents an attitude-tracking control algorithm with path planning based on the improved genetic algorithm, adaptive backstepping control as well as sliding mode control. The satellite applies double gimbal control moment gyro as actuator and is subjected to the external disturbance and uncertain inertia properties. Firstly, considering the comprehensive mathematical model of the agile satellite and the double gimbal control moment gyro, an improved genetic algorithm is proposed to solve the attitude path-planning problem. The goal is to find an energy optimal path which satisfies certain maneuverability under the constraints of the input saturation, actuator saturation, slew rate limit and singularity measurement limit. Then, the adaptive backstepping control and sliding mode control are adopted in the design of the attitude-tracking controller to track accurately the desired path comprised of the satellite attitude quaternion and velocity. Finally, simulation results indicate the robustness and good tracking performance of the derived controller as well as its ability to avert the singularity of double gimbal control moment gyro.

  5. Robust tracking control design for a flexible air-breathing hypersonic vehicle

    Institute of Scientific and Technical Information of China (English)

    张垚; 鲜斌; 刁琛; 赵勃; 郭建川

    2014-01-01

    A nonlinear robust controller was presented to improve the tracking control performance of a flexible air-breathing hypersonic vehicle (AHV) which is subjected to system parametric uncertainties and unknown additive time-varying disturbances. The longitudinal dynamic model for the flexible AHV was used for the control development. High-gain observers were designed to compensate for the system uncertainties and additive disturbances. Small gain theorem and Lyapunov based stability analysis were utilized to prove the stability of the closed loop system. Locally uniformly ultimately bounded tracking of the vehicle’s velocity, altitude and attack angle were achieved under aeroelastic effects, system parametric uncertainties and unknown additive disturbances. Matlab/Simulink simulation results were provided to validate the robustness of the proposed control design. The simulation results demonstrate that the tracking errors stay in a small region around zero.

  6. Sliding mode control of photoelectric tracking platform based on the inverse system method

    Directory of Open Access Journals (Sweden)

    Yao Zong Chen

    2016-01-01

    Full Text Available In order to improve the photoelectric tracking platform tracking performance, an integral sliding mode control strategy based on inverse system decoupling method is proposed. The electromechanical dynamic model is established based on multi-body system theory and Newton-Euler method. The coupled multi-input multi-output (MIMO nonlinear system is transformed into two pseudo-linear single-input single-output (SISO subsystems based on the inverse system method. An integral sliding mode control scheme is designed for the decoupled pseudo-linear system. In order to eliminate system chattering phenomenon caused by traditional sign function in sliding-mode controller, the sign function is replaced by the Sigmoid function. Simulation results show that the proposed decoupling method and the control strategy can restrain the influences of internal coupling and disturbance effectively, and has better robustness and higher tracking accuracy.

  7. Impact of magnetic saturation on the input-output linearising tracking control of an induction motor

    DEFF Research Database (Denmark)

    Dolinar, Drago; Ljusev, Petar; Stumberger, Gorazd

    2004-01-01

    This paper deals with the tracking control design of an induction motor, based on input-output linearization with magnetic saturation included. Magnetic saturation is represented by the nonlinear magnetizing curve of the iron core and is used in the control design, the observer of state variables......, and in the load torque estimator. An input-output linearising control is used to achieve better tracking performances of the drive. It is based on the mixed ”stator current - rotor flux linkage” induction motor model with magnetic saturation considered in the stationary reference frame. Experimental results show...... that the proposed input-output linearising tracking control with the included saturation behaves considerably better than the one without saturation, and that it introduces smaller position and speed errors, and better motor stiffness on account of the increased computational complexity....

  8. Input-output linearizing tracking control of induction machine with the included magnetic saturation

    DEFF Research Database (Denmark)

    Dolinar, Drago; Ljusev, Petar; Stumberger, Gorazd

    2003-01-01

    The tracking control design of an induction motor, based on input-output linearisation with magnetic saturation included is addressed. The magnetic saturation is represented by a nonlinear magnetising curve for the iron core and is used in the control, the observer of the state variables......, and in the load torque estimator. An input-output linearising control is used to achieve better tracking performances. It is based on the mixed 'stator current - rotor flux linkage' induction motor model with magnetic saturation considered in the stationary reference frame. Experimental results show...... that the proposed input-output linearising tracking control with saturation included behaves considerably better than the one without saturation, and that it introduces smaller position and speed errors, and better motor stiffness on account of the increased computational complexity....

  9. Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements

    Science.gov (United States)

    Shi, Shang; Yu, Xin; Khoo, Suiyang

    2016-02-01

    The problem of robust finite-time trajectory tracking of nonholonomic mobile robots with unmeasurable velocities is studied. The contributions of the paper are that: first, in the case that the angular velocity of the mobile robot is unmeasurable, a composite controller including the observer-based partial state feedback control and the disturbance feed-forward compensation is designed, which guarantees that the tracking errors converge to zero in finite time. Second, if the linear velocity as well as the angular velocity of mobile robot is unmeasurable, with a stronger constraint, the finite-time trajectory tracking control of nonholonomic mobile robot is also addressed. Finally, the effectiveness of the proposed control laws is demonstrated by simulation.

  10. Performance-Based Adaptive Fuzzy Tracking Control for Networked Industrial Processes.

    Science.gov (United States)

    Wang, Tong; Qiu, Jianbin; Yin, Shen; Gao, Huijun; Fan, Jialu; Chai, Tianyou

    2016-08-01

    In this paper, the performance-based control design problem for double-layer networked industrial processes is investigated. At the device layer, the prescribed performance functions are first given to describe the output tracking performance, and then by using backstepping technique, new adaptive fuzzy controllers are designed to guarantee the tracking performance under the effects of input dead-zone and the constraint of prescribed tracking performance functions. At operation layer, by considering the stochastic disturbance, actual index value, target index value, and index prediction simultaneously, an adaptive inverse optimal controller in discrete-time form is designed to optimize the overall performance and stabilize the overall nonlinear system. Finally, a simulation example of continuous stirred tank reactor system is presented to show the effectiveness of the proposed control method.

  11. Active disturbance rejection control based human gait tracking for lower extremity rehabilitation exoskeleton.

    Science.gov (United States)

    Long, Yi; Du, Zhijiang; Cong, Lin; Wang, Weidong; Zhang, Zhiming; Dong, Wei

    2017-03-01

    This paper presents an active disturbance rejection control (ADRC) based strategy, which is applied to track the human gait trajectory for a lower limb rehabilitation exoskeleton. The desired human gait trajectory is derived from the Clinical Gait Analysis (CGA). In ADRC, the total external disturbance can be estimated by the extended state observer (ESO) and canceled by the designed control law. The observer bandwidth and the controller bandwidth are determined by the practical principles. We simulated the proposed methodology in MATLAB. The numerical simulation shows the tracking error comparison and the estimated errors of the extended state observer. Two experimental tests were carried out to prove the performance of the algorithm presented in this paper. The experiment results show that the proposed ADRC behaves a better performance than the regular proportional integral derivative (PID) controller. With the proposed ADRC, the rehabilitation system is capable of tracking the target gait more accurately.

  12. Observer-based approximate optimal tracking control for time-delay systems with external disturbances

    Science.gov (United States)

    Su, Hao; Tang, Gong-You

    2016-09-01

    This paper proposes a successive approximation design approach of observer-based optimal tracking controllers for time-delay systems with external disturbances. To solve a two-point boundary value problem with time-delay and time-advance terms and obtain the optimal tracking control law, two sequences of vector differential equations are constructed first. Second, the convergence of the sequences of the vector differential equations is proved to guarantee the existence and uniqueness of the control law. Third, a design algorithm of the optimal tracking control law is presented and the physically realisable problem is addressed by designing a disturbance state observer and a reference input state observer. An example of an industrial electric heater is given to demonstrate the efficiency of the proposed approach.

  13. Impact of magnetic saturation on the input-output linearising tracking control of an induction motor

    DEFF Research Database (Denmark)

    Dolinar, Drago; Ljusev, Petar; Stumberger, Gorazd

    2004-01-01

    This paper deals with the tracking control design of an induction motor, based on input-output linearization with magnetic saturation included. Magnetic saturation is represented by the nonlinear magnetizing curve of the iron core and is used in the control design, the observer of state variables......, and in the load torque estimator. An input-output linearising control is used to achieve better tracking performances of the drive. It is based on the mixed ”stator current - rotor flux linkage” induction motor model with magnetic saturation considered in the stationary reference frame. Experimental results show...... that the proposed input-output linearising tracking control with the included saturation behaves considerably better than the one without saturation, and that it introduces smaller position and speed errors, and better motor stiffness on account of the increased computational complexity....

  14. Input-output linearizing tracking control of induction machine with the included magnetic saturation

    DEFF Research Database (Denmark)

    Dolinar, Drago; Ljusev, Petar; Stumberger, Gorazd

    2003-01-01

    The tracking control design of an induction motor, based on input-output linearisation with magnetic saturation included is addressed. The magnetic saturation is represented by a nonlinear magnetising curve for the iron core and is used in the control, the observer of the state variables......, and in the load torque estimator. An input-output linearising control is used to achieve better tracking performances. It is based on the mixed 'stator current - rotor flux linkage' induction motor model with magnetic saturation considered in the stationary reference frame. Experimental results show...... that the proposed input-output linearising tracking control with saturation included behaves considerably better than the one without saturation, and that it introduces smaller position and speed errors, and better motor stiffness on account of the increased computational complexity....

  15. Fuzzy Modeling, Tracking Control and Synchronization of the Rossler's Chaotic System

    Institute of Scientific and Technical Information of China (English)

    方建安; 范丹丹

    2004-01-01

    In this paper, a novel method to model, track control and synchronize the Rossler's chaotic system is proposed. The fuzzy logical system is used so that the fuzzy inference rule is transferred into a type of variable coef ficient nonlinear ordinary differential equation. Consequently the model of the chaotic system is obtained. Then a fuzzy tracking control and a fuzzy synchronization for chaotic systems is proposed as well. First, a known tracking control for the Rossler's system is used in this paper. We represent the Rossler's chaotic and control systems into fuzzy inference rules. Then the variable coefficient nonlinear ordinary differential equation is also got. Simulation results show that such an approach is effective and has a high precision.

  16. Track-position and vibration control simulation for strut of the Stewart platform

    Institute of Scientific and Technical Information of China (English)

    Zhao-dong XU; Chen-hui WENG

    2013-01-01

    Vibrations inherently generated by on-board disturbance sources degrade the performance of the instruments in an on-orbit spacecraft, which have stringent accuracy requirements.The Stewart platform enables both track-positioning and vibration control.The strut of the Stewart platform is designed as a piezoelectric (PZT) element in series with a voice coil motor (VCM) element and a viscoelastic element.The track-positioning system uses a VCM as the main positioning control driver and a PZT as the positioning compensator.The vibration control system uses the characteristics of struts including active and passive control elements to attenuate the vibration.Simulation results indicate that the Stewart platform with the designed struts has good performance in tracking and vibration attenuation with different interference waves.

  17. Tracking Controller for Intrinsic Output Saturated Systems in Presence of Amplitude and Rate Input Saturations

    DEFF Research Database (Denmark)

    Chater, E.; Giri, F.; Guerrero, Josep M.;

    2014-01-01

    We consider the problem of controlling plants that are subject to multiple saturation constraints. Especially, we are interested in linear systems whose input is subject to amplitude and rate constraints of saturation type. Furthermore, the considered systems output is also subject to an intrinsic......-loop control system is analyzed using input-output stability tools. Thus, conditions guaranteeing l2-tracking performances are formally defined. Interestingly, the proposed controller is shown to ensure perfect output-reference tracking in presence of varying with l2-vanishing rate inputs. On the other hand......, in the case of arbitrary inputs, the proposed controller guarantees that the less changing the inputs are the better the output-reference tracking....

  18. A Back-stepping Based Trajectory Tracking Controller for a Non-chained Nonholonomic Spherical Robot

    Institute of Scientific and Technical Information of China (English)

    Zhan Qiang; Liu Zengbo; Cai Yao

    2008-01-01

    Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the controller the robot can globally and asymptotically track desired trajectories, both linear and circular.

  19. Lane changing trajectory planning and tracking control for intelligent vehicle on curved road.

    Science.gov (United States)

    Wang, Lukun; Zhao, Xiaoying; Su, Hao; Tang, Gongyou

    2016-01-01

    This paper explores lane changing trajectory planning and tracking control for intelligent vehicle on curved road. A novel arcs trajectory is planned for the desired lane changing trajectory. A kinematic controller and a dynamics controller are designed to implement the trajectory tracking control. Firstly, the kinematic model and dynamics model of intelligent vehicle with non-holonomic constraint are established. Secondly, two constraints of lane changing on curved road in practice (LCCP) are proposed. Thirdly, two arcs with same curvature are constructed for the desired lane changing trajectory. According to the geometrical characteristics of arcs trajectory, equations of desired state can be calculated. Finally, the backstepping method is employed to design a kinematic trajectory tracking controller. Then the sliding-mode dynamics controller is designed to ensure that the motion of the intelligent vehicle can follow the desired velocity generated by kinematic controller. The stability of control system is proved by Lyapunov theory. Computer simulation demonstrates that the desired arcs trajectory and state curves with B-spline optimization can meet the requirements of LCCP constraints and the proposed control schemes can make tracking errors to converge uniformly.

  20. Distributed output-feedback formation tracking control for unmanned aerial vehicles

    Science.gov (United States)

    He, Lei; Sun, Xiuxia; Lin, Yan

    2016-12-01

    This paper considers the output-feedback formation problem of tracking a desired trajectory for a group of networked unmanned aerial vehicles (UAVs). By introducing a state observer, the controller for the non-holonomic UAV model can be designed without linear and angular velocities measurements. The formation robustness can be improved by applying the virtual structure and synchronising the path parameters. It is proved that, with the proposed control strategy, all the closed-loop signals are bounded and the formation tracking errors asymptotically converge to zero. Simulation results are given to illustrate the effectiveness of the proposed control strategy.

  1. Measuring Human Performance in Simulated Nuclear Power Plant Control Rooms Using Eye Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Kovesdi, Casey Robert [Idaho National Lab. (INL), Idaho Falls, ID (United States); Rice, Brandon Charles [Idaho National Lab. (INL), Idaho Falls, ID (United States); Bower, Gordon Ross [Idaho National Lab. (INL), Idaho Falls, ID (United States); Spielman, Zachary Alexander [Idaho National Lab. (INL), Idaho Falls, ID (United States); Hill, Rachael Ann [Idaho National Lab. (INL), Idaho Falls, ID (United States); LeBlanc, Katya Lee [Idaho National Lab. (INL), Idaho Falls, ID (United States)

    2015-11-01

    Control room modernization will be an important part of life extension for the existing light water reactor fleet. As part of modernization efforts, personnel will need to gain a full understanding of how control room technologies affect performance of human operators. Recent advances in technology enables the use of eye tracking technology to continuously measure an operator’s eye movement, which correlates with a variety of human performance constructs such as situation awareness and workload. This report describes eye tracking metrics in the context of how they will be used in nuclear power plant control room simulator studies.

  2. High-Accuracy Tracking Control of Robot Manipulators Using Time Delay Estimation and Terminal Sliding Mode

    Directory of Open Access Journals (Sweden)

    Maolin Jin

    2011-09-01

    Full Text Available A time delay estimation based general framework for trajectory tracking control of robot manipulators is presented. The controller consists of three elements: a time‐delay‐estimation element that cancels continuous nonlinearities of robot dynamics, an injecting element that endows desired error dynamics, and a correcting element that suppresses residual time delay estimation error caused by discontinuous nonlinearities. Terminal sliding mode is used for the correcting element to pursue fast convergence of the time delay estimation error. Implementation of proposed control is easy because calculation of robot dynamics including friction is not required. Experimental results verify high‐accuracy trajectory tracking of industrial robot manipulators.

  3. A Combined Methodology of H∞ Fuzzy Tracking Control and Virtual Reference Model for a PMSM

    Directory of Open Access Journals (Sweden)

    Djamel Ounnas

    2015-01-01

    Full Text Available The aim of this paper is to present a new fuzzy tracking strategy for a permanent magnet synchronous machine (PMSM by using Takagi-Sugeno models (T-S. A feedback-based fuzzy control with h-infinity tracking performance and a concept of virtual reference model are combined to develop a fuzzy tracking controller capable to track a reference signal and ensure a minimum effect of disturbance on the PMSM system. First, a T-S fuzzy model is used to represent the PMSM nonlinear system with disturbance. Next, an integral fuzzy tracking control based on the concept of virtual desired variables (VDVs is formulated to simplify the design of the virtual reference model and the control law. Finally, based on this concept, a two-stage design procedure is developed: i determine the VDVs from the nonlinear system output equation and generalized kinematics constraints ii calculate the feedback controller gains by solving a set of linear matrix inequalities (LMIs. Simulation results are provided to demonstrate the validity and the effectiveness of the proposed method.

  4. Approximate optimal tracking control for near-surface AUVs with wave disturbances

    Science.gov (United States)

    Yang, Qing; Su, Hao; Tang, Gongyou

    2016-10-01

    This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles (AUVs) in the presence of wave disturbances. An approximate optimal tracking control (AOTC) approach is proposed. Firstly, a six-degrees-of-freedom (six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV's system is represented by the exosystem. Then, the coupled two-point boundary value (TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit (REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.

  5. Robust Control of Welding Robot for Tracking a Rectangular Welding Line

    Directory of Open Access Journals (Sweden)

    Manh Dung Ngo

    2008-11-01

    Full Text Available This paper highlights a welding robot (WR for its end effector to track a rectangular welding line (RWL. The WR includes five actuators which use a DC motor as a power source. Two controllers are proposed to control the WR's end effector: a main controller and a servo controller. Firstly, based on WR's kinematic equations and its feedback errors using backstepping method the main controller is proposed to design the reference-inputs for the WR's actuators in order that the WR's end effector tracks the RWL. Secondly, based on the dynamic equation of WR's actuator, the servo controller is designed using an active disturbance rejection control method. Finally, a control system incorporated with the main controller and the servo controllers make the WR's end effector robustly track a RWL in the presence of the modeling uncertainty and disturbances during the welding process. In experiment, the main controller which has a function as a master of the control system links to the five servo controllers which have a function as a slave via I2C communication. The effectiveness of the proposed control system is proven through the simulation and experimental results.

  6. Tracking the Sun V: An Historical Summary of the Installed Price of Photovoltaics in the United States from 1998 to 2011

    Energy Technology Data Exchange (ETDEWEB)

    Barbose, Galen [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Darghouth, Naim [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Wiser, Ryan [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States)

    2012-11-01

    As the deployment of grid-connected solar photovoltaic (PV) systems has increased, so too has the desire to track the installed price of these systems over time and by location, customer type, and system characteristics. This report helps to fill this need by summarizing trends in the installed price of grid-connected PV systems in the United States from 1998 through 2011, with preliminary data for 2012. The analysis is based on project-level data for more than 150,000 individual residential, commercial, and utility-scale PV systems, totaling more than 3,000 megawatts (MW) and representing 76% of all grid-connected PV capacity installed in the United States through 2011. The report describes installed price trends for residential and commercial PV systems, and another set of trends for utility-scale PV. In all cases, installed prices are identified in terms of real 2011 dollars per installed watt (DC-STC), prior to receipt of any direct financial incentives or tax credits.

  7. A comparison of kinesthetic-tactual and visual displays via a critical tracking task. [for aircraft control

    Science.gov (United States)

    Jagacinski, R. J.; Miller, D. P.; Gilson, R. D.

    1979-01-01

    The feasibility of using the critical tracking task to evaluate kinesthetic-tactual displays was examined. The test subjects were asked to control a first-order unstable system with a continuously decreasing time constant by using either visual or tactual unidimensional displays. The results indicate that the critical tracking task is both a feasible and a reliable methodology for assessing tactual tracking. Further, that the critical tracking methodology is as sensitive and valid a measure of tactual tracking as visual tracking is demonstrated by the approximately equal effects of quickening for the tactual and visual displays.

  8. A new control structure to reduce time delay of tracking sensors by applying an angular position sensor.

    Science.gov (United States)

    Yadegar, Meysam; Karami, Farzaneh; Nobari, Jafar H

    2016-07-01

    In this paper, a new tracking control structure is proposed to decrease the time-delay effect of tracking sensor. To achieve this purpose, an angular position sensor, which generally exists in tracking systems, is used together with the tracking sensor. Also, a compensator is designed and applied to a system with time-delay in order to obtain a behavior same as a system without time-delay. Relying only on tracking sensor may lead to reduce the tracking speed and to increase tracking error. However, it is shown that by using the proposed reformative structure, the speed of tracking and the tracking error can be compensated significantly. In the next step, the performance of the new structure in two cases of constant time-delay and variable time-delay are evaluated and their stability conditions are analyzed. Finally, robustness of the proposed structure is analyzed.

  9. Robust tracking control for a class of electrically driven flexible-joint robots without velocity measurements

    Science.gov (United States)

    Chang, Yeong-Chan; Yen, Hui-Min

    2012-02-01

    This article addresses the motion tracking control for a class of flexible-joint robotic manipulators actuated by brushed direct current motors. This class of electrically driven flexible-joint robots is perturbed by time-varying parametric uncertainties and external disturbances. A novel observer-based robust dynamic feedback tracking controller without velocity measurements will be developed such that the resulting closed-loop system is locally stable, all the states and signals are bounded and the trajectory tracking errors can be made as small as possible. Only the measurements of link position and armature current are required for feedback and so the number of sensors in the practical implementation of the developed control scheme can be greatly reduced. The observer structure is of reduced order in the sense that the observer is constructed only to estimate the velocity signals and whose dimension is half of the dimension of flexible-joint robots. Especially, for the set-point regulation problem, the developed controller is simplified to a linear time-invariant controller. Consequently, the robust tracking control scheme developed in this study can be extended to handle a broader class of uncertain electrically driven flexible-joint robots and the developed robust control schemes possess the properties of computational simplicity and easy implementation. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control algorithms.

  10. High-speed tracking control of piezoelectric actuators using an ellipse-based hysteresis model.

    Science.gov (United States)

    Gu, Guoying; Zhu, Limin

    2010-08-01

    In this paper, an ellipse-based mathematic model is developed to characterize the rate-dependent hysteresis in piezoelectric actuators. Based on the proposed model, an expanded input space is constructed to describe the multivalued hysteresis function H[u](t) by a multiple input single output (MISO) mapping Gamma:R(2)-->R. Subsequently, the inverse MISO mapping Gamma(-1)(H[u](t),H[u](t);u(t)) is proposed for real-time hysteresis compensation. In controller design, a hybrid control strategy combining a model-based feedforward controller and a proportional integral differential (PID) feedback loop is used for high-accuracy and high-speed tracking control of piezoelectric actuators. The real-time feedforward controller is developed to cancel the rate-dependent hysteresis based on the inverse hysteresis model, while the PID controller is used to compensate for the creep, modeling errors, and parameter uncertainties. Finally, experiments with and without hysteresis compensation are conducted and the experimental results are compared. The experimental results show that the hysteresis compensation in the feedforward path can reduce the hysteresis-caused error by up to 88% and the tracking performance of the hybrid controller is greatly improved in high-speed tracking control applications, e.g., the root-mean-square tracking error is reduced to only 0.34% of the displacement range under the input frequency of 100 Hz.

  11. A Generic Model Based Tracking Controller for Hydraulic Valve-Cylinder Drives

    DEFF Research Database (Denmark)

    Hansen, Anders Hedegaard; Schmidt, Lasse; Pedersen, Henrik Clemmensen

    2016-01-01

    , and are therefore constrained to utilize only measurements of the piston position, the valve spool position, the transmission line pressures and the supply pressure, as feedbacks. The control structures are generally targeting a high bandwidth of the controlled cylinder drive and accurate tracking ability...

  12. DERIVATION AND INTEGRAL SLIDING MODE VARIABLE STRUCTURE CONTROL OF HYDRAULIC VELOCITY TRACKING SYSTEM

    Institute of Scientific and Technical Information of China (English)

    Wei Jianhua; Guan Cheng

    2005-01-01

    The velocity tracking control of a hydraulic servo system is studied. Since the dynamics of the system are highly nonlinear and have large extent of model uncertainties, such as big changes in load and parameters, a derivation and integral sliding mode variable structure control scheme (DI-SVSC) is proposed. An integral controller is introduced to avoid the assumption that the derivative of desired signal must be known in conventional sliding mode variable structure control, a nonlinear derivation controller is used to weaken the chattering of system. The design method of switching function in integral sliding mode control, nonlinear derivation coefficient and controllers of DI-SVSC is presented respectively. Simulation shows that the control approach is of nice robustness and improves velocity tracking accuracy considerably.

  13. Nonlinear inversion-based output tracking control of a boiler-turbine unit

    Institute of Scientific and Technical Information of China (English)

    Fang FANG; Jizhen LIU; Wen TAN

    2005-01-01

    The capability to perform fast load-following has been an important issue in the power industry. An output tracking control system of a boiler-turbine unit is developed. The system is composed of stable inversion and feedback controller.The stable inversion is implemented as a feedforward controller to improve the load-following capability, and the feedback controller is utilized to guarantee the stability and robustness of the whole system. Loop-shaping H∞ method is used to design the feedback controller and the final controller is reduced to a multivariable PI form. The output tracking control system takes account of the multivariable, nonlinear and coupling behavior of boiler-turbine system, and the simulation tests show that the control system works well and can be widely applied.

  14. Grey Prediction Fuzzy Control of the Target Tracking System in a Robot Weapon

    Institute of Scientific and Technical Information of China (English)

    WANG Jian-zhong; JI Jiang-tao; WANG Hong-ru

    2007-01-01

    Grey modeling can be used to predict the behavioral development of a system and find out the lead control values of the system. By using fuzzy inference, PID parameters can be adjusted on line by the fuzzy controller with PID parameters self-tuning. According to the characteristics of target tracking system in a robot weapon, grey prediction theory and fuzzy PID control ideas are combined. A grey prediction mathematical model is constructed and a fuzzy PID controller with grey prediction was developed. Simulation result shows fuzzy PID control algorithm with grey prediction is an efficient method that can improve the control equality and robustness of traditional PID control and fuzzy PID control, and has much better performance for target tracking.

  15. 太阳自动跟踪机构的设计和位姿分析%Design and positional posture analysis of parallel sun auto-tracking mechanism

    Institute of Scientific and Technical Information of China (English)

    贺新升; 高春甫; 王彬; 谢楚雄

    2012-01-01

    A new type of 3-DOF sun parallel tracker was designed to track the sun all-around and to maximize its effective output powers. By using the cardan joint on a triangular platform to transfer the most of the weights of solar panels to the stand and to change the positional posture of the solar panels in all direction through three thin steel ropes, the track mechanism could reduce the electrical power consumption of own motor and could generate more efficient powers. Firstly, the forward position e-quations of the 3-DOF parallel tracker were established based on the theory of coordinate transformation. And then the forward position equations were solved by Newton's iterative method numerically. Finally, the space positional posture was measured and analyzed with the theory of the space parallel projection to verify the accuracy of the forward position equations. A driven energy experiment was performed to contrast the power consumption between the designed mechanism and a traditional two-axis tracker. The experimental results show that the established forward position equations and meas- ured results have the same trend basically, and the average errors of output positional postures for space angles α, β, and distance zB are 1.8%, 2.6%, 0.84%, respectively. This accuracy can meet the requirements of the tracking mechanism for errors. Moreover, the power consumption of the designed tracking mechanism is about 25% that of the traditional two-axis tracker.%设计了一种新型三自由度并联跟踪机构,以使太阳能板全方位地跟踪太阳并最大限度地输出有效发电量.采用三角平台上的万向节使太阳能板的大部分重量传递到支架上,通过3条细钢丝绳的协调动作使太阳能板的姿态发生变化,达到跟踪机构驱动电机耗能小,输出有效发电量多的目的.利用坐标变换理论建立了该三自由度并联跟踪机构的位置正解方程,然后用牛顿迭代法数值求解正解方程组;最后,依

  16. Robust H(infinity) tracking control of boiler-turbine systems.

    Science.gov (United States)

    Wu, J; Nguang, S K; Shen, J; Liu, G; Li, Y G

    2010-07-01

    In this paper, the problem of designing a fuzzy H(infinity) state feedback tracking control of a boiler-turbine is solved. First, the Takagi and Sugeno fuzzy model is used to model a boiler-turbine system. Next, based on the Takagi and Sugeno fuzzy model, sufficient conditions for the existence of a fuzzy H(infinity) nonlinear state feedback tracking control are derived in terms of linear matrix inequalities. The advantage of the proposed tracking control design is that it does not involve feedback linearization technique and complicated adaptive scheme. An industrial boiler-turbine system is used to illustrate the effectiveness of the proposed design as compared with a linearized approach.

  17. Approximate design of optimal tracking controller for time-delay systems

    Institute of Scientific and Technical Information of China (English)

    TANG Gongyou; LI Chao; ZHAO Yandong

    2006-01-01

    Successive approximate design of the optimal tracking controller for linear systems with time-delay is developed. By applying the successive approximation theory of differential equations, the two-point boundary value (TPBV) problem with both time-delay and time-advance terms derived from the original optimal tracking control (OTC) problem is transformed into a sequence of linear TPBV problems without delay and advance terms. The solution sequence of the linear TPBV problems uniformly converges to the solution of the original OTC problem. The obtained OTC law consists of analytic state feedback terms and a compensation term which is the limit of the adjoint vector sequence. The compensation term can be obtained from an iteration formula of adjoint vectors. By using a finite term of the adjoint vector sequence, a suboptimal tracking control law is revealed. Numerical examples show the effectiveness of the algorithm.

  18. Distributed tracking control of leader-follower multi-agent systems under noisy measurement

    CERN Document Server

    Hu, Jiangping; 10.1016/j.automatica.2010.05.020

    2011-01-01

    In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower can only measure relative positions of its neighbors in a noisy environment, including the relative position of the second-order active leader. A neighbor-based tracking protocol together with distributed estimators is designed based on a novel velocity decomposition technique. It is shown that the closed loop tracking control system is stochastically stable in mean square and the estimation errors converge to zero in mean square as well. A simulation example is finally given to illustrate the performance of the proposed control scheme.

  19. A guidance and control algorithm for scent tracking micro-robotic vehicle swarms

    Energy Technology Data Exchange (ETDEWEB)

    Dohner, J.L. [Sandia National Labs., Albuquerque, NM (United States). Structural Dynamics Dept.

    1998-03-01

    Cooperative micro-robotic scent tracking vehicles are designed to collectively sniff out locations of high scent concentrations in unknown, geometrically complex environments. These vehicles are programmed with guidance and control algorithms that allow inter cooperation among vehicles. In this paper a cooperative guidance and control algorithm for scent tracking micro-robotic vehicles is presented. This algorithm is comprised of a sensory compensation sub-algorithm using point source cancellation, a guidance sub-algorithm using gradient descent tracking, and a control sub-algorithm using proportional feedback. The concepts of social rank and point source cancellation are new concepts introduced within. Simulation results for cooperative vehicles swarms are given. Limitations are discussed.

  20. Full-state tracking control of a mobile robot using neural networks.

    Science.gov (United States)

    Chaitanya, V Sree Krishna

    2005-10-01

    In this paper a nonholonomic mobile robot with completely unknown dynamics is discussed. A mathematical model has been considered and an efficient neural network is developed, which ensures guaranteed tracking performance leading to stability of the system. The neural network assumes a single layer structure, by taking advantage of the robot regressor dynamics that expresses the highly nonlinear robot dynamics in a linear form in terms of the known and unknown robot dynamic parameters. No assumptions relating to the boundedness is placed on the unmodeled disturbances. It is capable of generating real-time smooth and continuous velocity control signals that drive the mobile robot to follow the desired trajectories. The proposed approach resolves speed jump problem existing in some previous tracking controllers. Further, this neural network does not require offline training procedures. Lyapunov theory has been used to prove system stability. The practicality and effectiveness of the proposed tracking controller are demonstrated by simulation and comparison results.

  1. Adaptive Neural Network Output Feedback Tracking Control for a Class of Complicated Agricultural Mechanical Systems

    Directory of Open Access Journals (Sweden)

    Hui Hu

    2015-07-01

    Full Text Available The study presents an adaptive neural network output feedback tracking control scheme for a class of complicated agricultural mechanical systems. The scheme includes a dynamic gain observer to estimate the un-measurable states of the system. The main advantages of the authors scheme are that by introducing non-separation principle design neural network controller and the observer gain are simultaneously tuned according to output tracking error, the semi-globally ultimately bounded of output tracking error and all the states in the closed-loop system can be achieved by Lyapunov approach. With the universal approximation property of NN and the simultaneous parametrisation, no Lipschitz assumption and SPR condition are employed which makes the system construct simple. Finally the simulation results are presented to demonstrate the efficiency of the control scheme.

  2. Tracking control of time-varying knee exoskeleton disturbed by interaction torque.

    Science.gov (United States)

    Li, Zhan; Ma, Wenhao; Yin, Ziguang; Guo, Hongliang

    2017-08-16

    Knee exoskeletons have been increasingly applied as assistive devices to help lower-extremity impaired people to make their knee joints move through providing external movement compensation. Tracking control of knee exoskeletons guided by human intentions often encounters time-varying (time-dependent) issues and the disturbance interaction torque, which may dramatically put an influence up on their dynamic behaviors. Inertial and viscous parameters of knee exoskeletons can be estimated to be time-varying due to unexpected mechanical vibrations and contact interactions. Moreover, the interaction torque produced from knee joint of wearers has an evident disturbance effect on regular motions of knee exoskeleton. All of these points can increase difficultly of accurate control of knee exoskeletons to follow desired joint angle trajectories. This paper proposes a novel control strategy for controlling knee exoskeleton with time-varying inertial and viscous coefficients disturbed by interaction torque. Such designed controller is able to make the tracking error of joint angle of knee exoskeletons exponentially converge to zero. Meanwhile, the proposed approach is robust to guarantee the tracking error bounded when the interaction torque exists. Illustrative simulation and experiment results are presented to show efficiency of the proposed controller. Additionally, comparisons with gradient dynamic (GD) approach and other methods are also presented to demonstrate efficiency and superiority of the proposed control strategy for tracking joint angle of knee exoskeleton. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  3. Vibration suppression during input tracking of a flexible manipulator using a hybrid controller

    Indian Academy of Sciences (India)

    Ashish Singla; Ashish Tewari; Bhaskar Dasgupta

    2015-09-01

    The aim of this paper is to investigate the performance of the hybrid controller for end-point vibration suppression of a flexible manipulator, while it is tracking a desired input profile. Due to large structural vibrations, precise control of flexible manipulators is a challenging task. A hybrid controller is used to track large movements of flexible robotic manipulators, which is a combination of inverse dynamics feedforward control, command shaping and linear state feedback control. The case study of a single-link flexible manipulator is considered, where the manipulator is controlled under open-loop as well as closed-loop control scheme. In the open-loop control scheme, the aim is to test the effectiveness of the command shaper in reducing the vibration levels. Moreover, the effect of payload variations on the performance of command shapers and the importance of more robust shapers is demonstrated in this work. Under the closed-loop control scheme, the control objective is to track the large-hub angle trajectory, while maintaining low vibration levels. In comparison to collocated PD control, being reported in the literature, large reductions in tip acceleration levels as well as input torque magnitudes are observed with the proposed hybrid controller.

  4. Mars atmospheric entry guidance for reference trajectory tracking based on robust nonlinear compound controller

    Science.gov (United States)

    Dai, Juan; Gao, Ai; Xia, Yuanqing

    2017-03-01

    A robust entry guidance law based on terminal sliding mode and second-order differentiator is designed for trajectory tracking in this paper. The bank angle is regarded as the control variable. A novel nonlinear compound controller is designed to make the system with the trajectory-tracking error and its rate as states be input-to-state stable (ISS) with respect to uncertainties. The terminal sliding mode controller is designed to the problem of entry guidance by using the second-order differentiator to estimate the total disturbances. The proposed nonlinear compound control law by employing the second-order differentiator and the terminal sliding mode controller, provide robustness, higher control precision. Also, simulation results are presented to illustrate the effectiveness of the control strategy.

  5. Simulation and design of fuzzy sliding-mode controller for ship heading-tracking

    Science.gov (United States)

    Yuan, Lei; Wu, Hansong

    2011-03-01

    In considering the characteristic of a rudder, the maneuvers of a ship were described by an unmatched uncertain nonlinear mathematic model with unknown virtual control coefficient and parameter uncertainties. In order to solve the uncertainties in the ship heading control, specifically the controller singular and paramount re-estimation problem, a new multiple sliding-mode adaptive fuzzy control algorithm was proposed by combining Nussbaum gain technology, the approximation property of fuzzy logic systems, and a multiple sliding-mode control algorithm. Based on the Lyapunov function, it was proven in theory that the controller made all signals in the nonlinear system of unmatched uncertain ship motion uniformly bounded, with tracking errors converging to zero. Simulation results show that the demonstrated controller design can track a desired course fast and accurately. It also exhibits strong robustness peculiarity in relation to system uncertainties and disturbances.

  6. MODELLING AND TORQUE TRACKING CONTROL OF PERMANENT MAGNET SYNCHRONOUS MOTOR FOR HYBRID ELECTRIC VEHICLES

    Directory of Open Access Journals (Sweden)

    Mohd Sabirin Rahmat

    2013-06-01

    Full Text Available This paper presents a detailed derivation of a permanent magnet synchronous motor, which may be used as the electric power train for the simulation of a hybrid electric vehicle. A torque tracking control of the permanent magnet synchronous motor is developed by using an adaptive proportional-integral-derivative controller. Several tests such as step function, saw tooth function, sine wave function and square wave function were used in order to examine the performance of the proposed control structure. The effectiveness of the proposed controller was verified and compared with the same system under a PID controller and the desired control. The result of the observations shows that the proposed control structure proves to be effective in tracking the desired torque with a good response. The findings of this study will be considered in the design, optimisation and experimentation of series hybrid electric vehicle.

  7. Observational Iinearization and tracking objective excitation control strategy based on phasor measurement unit

    Institute of Scientific and Technical Information of China (English)

    QIU Xiaoyan; LI Xingyuan; WANG Xiaoyan

    2007-01-01

    To improve the transient stability ofmultimachine power systems,observational linearization and tracking objective excitation control laws were derived from the phasor measurement unit (PMU),observational linearization,and tracking objective control theory based on synchronized coordinates and reference generator coordinates.The control strategies utilized real-time state variables obtained by PMU to linearize the state equations of the system,and then the linear optimal control strategy was used to design excitation controllers.The inaccuracy of the local linearization method and the complexity of the system models designed in the exact linearization method for nonlinear systems were avoided.Therefore,the control strategies were applied in real time.Simulation results show that the proposed method can improve the transient stability of power systems more efficiently than nonlinear optimal excitation control.

  8. Finite-Time Anti-Disturbance Inverse Optimal Attitude Tracking Control of Flexible Spacecraft

    Directory of Open Access Journals (Sweden)

    Chutiphon Pukdeboon

    2013-01-01

    Full Text Available We propose a new robust optimal control strategy for flexible spacecraft attitude tracking maneuvers in the presence of external disturbances. An inverse optimal control law is designed based on a Sontag-type formula and a control Lyapunov function. An adapted extended state observer is used to compensate for the total disturbances. The proposed controller can be expressed as the sum of an inverse optimal control and an adapted extended state observer. It is shown that the developed controller can minimize a cost functional and ensure the finite-time stability of a closed-loop system without solving the associated Hamilton-Jacobi-Bellman equation directly. For an adapted extended state observer, the finite-time convergence of estimation error dynamics is proven using a strict Lyapunov function. An example of multiaxial attitude tracking maneuvers is presented and simulation results are included to show the performance of the developed controller.

  9. Pressure tracking control of vehicle ABS using piezo valve modulator

    Science.gov (United States)

    Jeon, Juncheol; Choi, Seung-Bok

    2011-03-01

    This paper presents a wheel slip control for the ABS(anti-lock brake system) of a passenger vehicle using a controllable piezo valve modulator. The ABS is designed to optimize for braking effectiveness and good steerability. As a first step, the principal design parameters of the piezo valve and pressure modulator are appropriately determined by considering the braking pressure variation during the ABS operation. The proposed piezo valve consists of a flapper, pneumatic circuit and a piezostack actuator. In order to get wide control range of the pressure, the pressure modulator is desired. The modulator consists of a dual-type cylinder filled with different substances (fluid and gas) and a piston rod moving vertical axis to transmit the force. Subsequently, a quarter car wheel slip model is formulated and integrated with the governing equation of the piezo valve modulator. A sliding mode controller to achieve the desired slip rate is then designed and implemented. Braking control performances such as brake pressure and slip rate are evaluated via computer simulations.

  10. 基于PLC网络的光伏阵列追日跟踪控制%Controlling Photovoltaic Array to Pursue Sun Based on PLC Networks

    Institute of Scientific and Technical Information of China (English)

    胡国良

    2011-01-01

    In order to increase efficiency of solar photovoltaic power generation, we use the PLC network technology to realize the controlling of photovoltaic array to pursue the sun. We collect the position information of the sun via proper disposition of three photosensitive sensors cooperating with T-type light screen, and import the data collected to PLC by logic states. After processed by main station PLC, the data is transmitted to each substation by networks for driving the X-axis and Z-axis executive motor in each panel to aim the normal of photovoltaic array to the sun. It is a system of two-axis controlling photosensitive sensor based photovoltaic array which can pursue the sun. We present the network construction hardware connection methods and the initialization program of Mitsubishi FX2N series PLC, discuss the connection between the sensors and PLC and the relationship between light received states and the position of the sun, and design the software controlling flow chart. It has been proved as a feasible photovoltaic panel array control system of pursuing the sun with simulation experiment in laboratory.%为提高太阳能光伏发电的效率,提出了运用PLC网络技术实现对光伏阵列的追日跟踪控制,即通过3个感光传感器的合理布置,配合T型遮光板,采集太阳在空中的位置信息,以逻辑状态输入PLC,经主站PLC处理后以网络传送至各从站PLC,再驱动阵列中的各X、Z轴执行电机,使光伏阵列平面法线追踪对准太阳.并介绍了系统的构建方法,给出了三菱FX2N系列PLC的组网硬件连接方法及初始化程序,阐述了传感器与PLC的连接及受光状态与太阳位置的关系,设计了软件控制流程图.经实验室模拟验证,证明该系统是一种可行的太阳能光伏阵列追日跟踪控制系统.

  11. The Best Achievable ℋ2 Tracking Performances for SIMO Feedback Control Systems

    Directory of Open Access Journals (Sweden)

    Shinji Hara

    2007-01-01

    Full Text Available This paper is concerned with the inherent ℋ2 tracking performance limitation of single-input and multiple-output (SIMO linear time-invariant (LTI feedback control systems. The performance is measured by the tracking error between a step reference input and the plant output with additional penalty on control input. We employ the plant augmentation strategy, which enables us to derive analytical closed-form expressions of the best achievable performance not only for discrete-time system, but also for continuous-time system by exploiting the delta domain version of the expressions.

  12. Adaptive neural network tracking control for a class of unknown nonlinear time-delay systems

    Institute of Scientific and Technical Information of China (English)

    Chen Weisheng; Li Junmin

    2006-01-01

    For a class of unknown nonlinear time-delay systems, an adaptive neural network (NN) control design approach is proposed. Backstepping, domination and adaptive bounding design technique are combined to construct a robust memoryless adaptive NN tracking controller. Unknown time-delay functions are approximated by NNs, such that the requirement on the nonlinear time-delay functions is relaxed. Based on Lyapunov-Krasoviskii functional, the sem-global uniformly ultimately boundedness (UUB) of all the signals in the closed-loop system is proved. The arbitrary output tracking accuracy is achieved by tuning the design parameters. The feasibility is investigated by an illustrative simulation example.

  13. Reliable Control of Ship-mounted Satellite Tracking Antenna

    DEFF Research Database (Denmark)

    Soltani, Mohsen; Izadi-Zamanabadi, Roozbeh; Wisniewski, Rafal

    2010-01-01

    Motorized antenna is a key element in overseas satellite telecommunication. The control system directs the on-board antenna toward a chosen satellitewhile the high sea waves disturb the antenna. Certain faults (communication system malfunction or signal blocking) cause interruption in the communi......Motorized antenna is a key element in overseas satellite telecommunication. The control system directs the on-board antenna toward a chosen satellitewhile the high sea waves disturb the antenna. Certain faults (communication system malfunction or signal blocking) cause interruption...

  14. Fuzzy Logic Trajectory Tracking Controller for a Tanker

    Directory of Open Access Journals (Sweden)

    Dur Muhammad Pathan

    2012-04-01

    Full Text Available This paper proposes a fuzzy logic controller for design of autopilot of a ship. Triangular membership functions have been use for fuzzification and the centroid method for defuzzification. A nonlinear mathematical model of an oil tanker has been considered whose parameters vary with the depth of water. The performance of proposed controller has been tested under both course changing and trajectory keeping mode of operations. It has been demonstrated that the performance is robust in shallow as well as deep waters.

  15. Robust Control of Welding Robot for Tracking a Curved and Straight Welding Line combined 3D

    Directory of Open Access Journals (Sweden)

    Tran Duy Cuong

    2016-08-01

    Full Text Available This paper highlights a welding robot (WR for its end effector to track a curved and straight welding line combined (CSWLC. The WR includes five actuators which use a DC motor as a power source. Two controllers are proposed to control the WR’s end effector: a main controller and a servo controller. Firstly, based on WR’s kinematic equations and its feedback errors using backstepping method the main controller is proposed to design the reference-inputs for the WR’s actuators in order that the WR’s end effector tracks the CSWLC. Secondly, based on the dynamic equation of WR’s actuator, the servo controller is designed using an active disturbance rejection control method. Finally, a control system incorporated with the main controller and the servo controllers make the WR’s end effector robustly track a CSWLC in the presence of the modeling uncertainty and disturbances during the welding process. The effectiveness of the proposed control system is proven through the simulation results.

  16. Fuzzy adaptive tracking control within the full envelope for an unmanned aerial vehicle

    Institute of Scientific and Technical Information of China (English)

    Liu Zhi; Wang Yong

    2014-01-01

    Motivated by the autopilot of an unmanned aerial vehicle (UAV) with a wide flight enve-lope span experiencing large parametric variations in the presence of uncertainties, a fuzzy adaptive tracking controller (FATC) is proposed. The controller consists of a fuzzy baseline controller and an adaptive increment, and the main highlight is that the fuzzy baseline controller and adaptation laws are both based on the fuzzy multiple Lyapunov function approach, which helps to reduce the conservatism for the large envelope and guarantees satisfactory tracking performances with strong robustness simultaneously within the whole envelope. The constraint condition of the fuzzy baseline controller is provided in the form of linear matrix inequality (LMI), and it specifies the satisfactory tracking performances in the absence of uncertainties. The adaptive increment ensures the uniformly ultimately bounded (UUB) predication errors to recover satisfactory responses in the presence of uncertainties. Simulation results show that the proposed controller helps to achieve high-accuracy tracking of airspeed and altitude desirable commands with strong robustness to uncertainties throughout the entire flight envelope.

  17. Online kernel-based learning for task-space tracking robot control.

    Science.gov (United States)

    Nguyen-Tuong, Duy; Peters, Jan

    2012-09-01

    Task-space control of redundant robot systems based on analytical models is known to be susceptive to modeling errors. Data-driven model learning methods may present an interesting alternative approach. However, learning models for task-space tracking control from sampled data is an ill-posed problem. In particular, the same input data point can yield many different output values, which can form a nonconvex solution space. Because the problem is ill-posed, models cannot be learned from such data using common regression methods. While learning of task-space control mappings is globally ill-posed, it has been shown in recent work that it is locally a well-defined problem. In this paper, we use this insight to formulate a local kernel-based learning approach for online model learning for task-space tracking control. We propose a parametrization for the local model, which makes an application in task-space tracking control of redundant robots possible. The model parametrization further allows us to apply the kernel-trick and, therefore, enables a formulation within the kernel learning framework. In our evaluations, we show the ability of the method for online model learning for task-space tracking control of redundant robots.

  18. Fuzzy virtual reference model sensorless tracking control for linear induction motors.

    Science.gov (United States)

    Hung, Cheng-Yao; Liu, Peter; Lian, Kuang-Yow

    2013-06-01

    This paper introduces a fuzzy virtual reference model (FVRM) synthesis method for linear induction motor (LIM) speed sensorless tracking control. First, we represent the LIM as a Takagi-Sugeno fuzzy model. Second, we estimate the immeasurable mover speed and secondary flux by a fuzzy observer. Third, to convert the speed tracking control into a stabilization problem, we define the internal desired states for state tracking via an FVRM. Finally, by solving a set of linear matrix inequalities (LMIs), we obtain the observer gains and the control gains where exponential convergence is guaranteed. The contributions of the approach in this paper are threefold: 1) simplified approach--speed tracking problem converted into stabilization problem; 2) omit need of actual reference model--FVRM generates internal desired states; and 3) unification of controller and observer design--control objectives are formulated into an LMI problem where powerful numerical toolboxes solve controller and observer gains. Finally, experiments are carried out to verify the theoretical results and show satisfactory performance both in transient response and robustness.

  19. Off-policy integral reinforcement learning optimal tracking control for continuous-time chaotic systems

    Science.gov (United States)

    Wei, Qing-Lai; Song, Rui-Zhuo; Sun, Qiu-Ye; Xiao, Wen-Dong

    2015-09-01

    This paper estimates an off-policy integral reinforcement learning (IRL) algorithm to obtain the optimal tracking control of unknown chaotic systems. Off-policy IRL can learn the solution of the HJB equation from the system data generated by an arbitrary control. Moreover, off-policy IRL can be regarded as a direct learning method, which avoids the identification of system dynamics. In this paper, the performance index function is first given based on the system tracking error and control error. For solving the Hamilton-Jacobi-Bellman (HJB) equation, an off-policy IRL algorithm is proposed. It is proven that the iterative control makes the tracking error system asymptotically stable, and the iterative performance index function is convergent. Simulation study demonstrates the effectiveness of the developed tracking control method. Project supported by the National Natural Science Foundation of China (Grant Nos. 61304079 and 61374105), the Beijing Natural Science Foundation, China (Grant Nos. 4132078 and 4143065), the China Postdoctoral Science Foundation (Grant No. 2013M530527), the Fundamental Research Funds for the Central Universities, China (Grant No. FRF-TP-14-119A2), and the Open Research Project from State Key Laboratory of Management and Control for Complex Systems, China (Grant No. 20150104).

  20. H∞ reference tracking control design for a class of nonlinear systems with time-varying delays

    Institute of Scientific and Technical Information of China (English)

    Mei-qin LIU; Hai-yang CHEN; Sen-lin ZHANG

    2015-01-01

    This paper investigates the H∞ trajectory tracking control for a class of nonlinear systems with time-varying delays by virtue of Lyapunov-Krasovskii stability theory and the linear matrix inequality (LMI) technique. A unifi ed model consisting of a linear delayed dynamic system and a bounded static nonlinear operator is introduced, which covers most of the nonlinear systems with bounded nonlinear terms, such as the one-link robotic manipulator, chaotic systems, complex networks, the continuous stirred tank reactor (CSTR), and the standard genetic regulatory network (SGRN). First, the defi nition of the tracking control is given. Second, the H∞ performance analysis of the closed-loop system including this unifi ed model, reference model, and state feedback controller is presented. Then criteria on the tracking controller design are derived in terms of LMIs such that the output of the closed-loop system tracks the given reference signal in the H∞ sense. The reference model adopted here is modifi ed to be more fl exible. A scaling factor is introduced to deal with the disturbance such that the control precision is improved. Finally, a CSTR system is provided to demonstrate the effectiveness of the established control laws.

  1. Fuzzy adaptive tracking control within the full envelope for an unmanned aerial vehicle

    Directory of Open Access Journals (Sweden)

    Liu Zhi

    2014-10-01

    Full Text Available Motivated by the autopilot of an unmanned aerial vehicle (UAV with a wide flight envelope span experiencing large parametric variations in the presence of uncertainties, a fuzzy adaptive tracking controller (FATC is proposed. The controller consists of a fuzzy baseline controller and an adaptive increment, and the main highlight is that the fuzzy baseline controller and adaptation laws are both based on the fuzzy multiple Lyapunov function approach, which helps to reduce the conservatism for the large envelope and guarantees satisfactory tracking performances with strong robustness simultaneously within the whole envelope. The constraint condition of the fuzzy baseline controller is provided in the form of linear matrix inequality (LMI, and it specifies the satisfactory tracking performances in the absence of uncertainties. The adaptive increment ensures the uniformly ultimately bounded (UUB predication errors to recover satisfactory responses in the presence of uncertainties. Simulation results show that the proposed controller helps to achieve high-accuracy tracking of airspeed and altitude desirable commands with strong robustness to uncertainties throughout the entire flight envelope.

  2. A comparison of vision-based tracking schemes for control of microbiorobots

    Science.gov (United States)

    Kim, Dal Hyung; Steager, Edward B.; Kei Cheang, U.; Byun, Doyoung; Kim, Min Jun

    2010-06-01

    There has been significant recent interest in micro-nano robots operating in low Reynold's number fluidic environments. Even though recent works showed the success of controlling micro-nano robots, there are some limitations because of the tracking method. In this paper, we introduce and implement a feature-based tracking method (FTM). Scale invariant feature transform (SIFT) is a well-explored technique at much larger length scales for research fields regarding robotics and vision. Here, the technique is extensively investigated and optimized for microbiorobots (MBRs) in low Reynold's number environments. Also, we compare the FTM with the conventional tracking method for cells, which is known as the region-based tracking method (RTM). We clearly show that the FTM can track more accurate positions of the objects in comparison with the RTM in cases where objects are in close contact or overlapped. Also, we demonstrate that the FTM allows tracking microscopic objects even though illumination changes over time or portions of the object are occluded or outside the field of view.

  3. Research on Airborne Electro-Optical Tracking and Sighting System Based on Fuzzy PID and H∞ Control

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Airborne electro-optical tracking and sighting system is a three-degree-of-freedom angular position servo system which is influenced by multi-disturbance, and its control system consists of stabilizing and tracking components. Stabilizing control is applied to track angular velocity order and control multi-disturbance under airborne condition, and its robustness should be very good; tracking control is applied to compensate tracking error of angular position. A mathematical model is established by taking the control of yaw loop as example. H∞ stabilizing controller is designed by taking the advantage of H∞ control robustness and combining with Kalman filter. A fuzzy control is introduced in general PID control to design a decoupled fuzzy Smith estimating PID controller for tracking control. Simulation research shows that the control effect of airborne electro-optical tracking and sighting system based on fuzzy PID and H∞ control is good, especially when the model parameters change and the multi-disturbance exists, the system capability has little fall, but this system still can effectively track a target.

  4. Terminal Sliding Mode-Based Consensus Tracking Control for Networked Uncertain Mechanical Systems on Digraphs.

    Science.gov (United States)

    Chen, Gang; Song, Yongduan; Guan, Yanfeng

    2016-12-29

    This brief investigates the finite-time consensus tracking control problem for networked uncertain mechanical systems on digraphs. A new terminal sliding-mode-based cooperative control scheme is developed to guarantee that the tracking errors converge to an arbitrarily small bound around zero in finite time. All the networked systems can have different dynamics and all the dynamics are unknown. A neural network is used at each node to approximate the local unknown dynamics. The control schemes are implemented in a fully distributed manner. The proposed control method eliminates some limitations in the existing terminal sliding-mode-based consensus control methods and extends the existing analysis methods to the case of directed graphs. Simulation results on networked robot manipulators are provided to show the effectiveness of the proposed control algorithms.

  5. Keyboard before Head Tracking Depresses User Success in Remote Camera Control

    Science.gov (United States)

    Zhu, Dingyun; Gedeon, Tom; Taylor, Ken

    In remote mining, operators of complex machinery have more tasks or devices to control than they have hands. For example, operating a rock breaker requires two handed joystick control to position and fire the jackhammer, leaving the camera control to either automatic control or require the operator to switch between controls. We modelled such a teleoperated setting by performing experiments using a simple physical game analogue, being a half size table soccer game with two handles. The complex camera angles of the mining application were modelled by obscuring the direct view of the play area and the use of a Pan-Tilt-Zoom (PTZ) camera. The camera control was via either a keyboard or via head tracking using two different sets of head gestures called “head motion” and “head flicking” for turning camera motion on/off. Our results show that the head motion control was able to provide a comparable performance to using a keyboard, while head flicking was significantly worse. In addition, the sequence of use of the three control methods is highly significant. It appears that use of the keyboard first depresses successful use of the head tracking methods, with significantly better results when one of the head tracking methods was used first. Analysis of the qualitative survey data collected supports that the worst (by performance) method was disliked by participants. Surprisingly, use of that worst method as the first control method significantly enhanced performance using the other two control methods.

  6. Lyapunov function-based control laws for revolute robot arms - Tracking control, robustness, and adaptive control

    Science.gov (United States)

    Wen, John T.; Kreutz-Delgado, Kenneth; Bayard, David S.

    1992-01-01

    A new class of joint level control laws for all-revolute robot arms is introduced. The analysis is similar to a recently proposed energy-like Liapunov function approach, except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. This approach gives way to a much simpler analysis and leads to a new class of control designs which guarantee both global asymptotic stability and local exponential stability. When Coulomb and viscous friction and parameter uncertainty are present as model perturbations, a sliding mode-like modification of the control law results in a robustness-enhancing outer loop. Adaptive control is formulated within the same framework. A linear-in-the-parameters formulation is adopted and globally asymptotically stable adaptive control laws are derived by simply replacing unknown model parameters by their estimates (i.e., certainty equivalence adaptation).

  7. Lyapunov function-based control laws for revolute robot arms - Tracking control, robustness, and adaptive control

    Science.gov (United States)

    Wen, John T.; Kreutz-Delgado, Kenneth; Bayard, David S.

    1992-01-01

    A new class of joint level control laws for all-revolute robot arms is introduced. The analysis is similar to a recently proposed energy-like Liapunov function approach, except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. This approach gives way to a much simpler analysis and leads to a new class of control designs which guarantee both global asymptotic stability and local exponential stability. When Coulomb and viscous friction and parameter uncertainty are present as model perturbations, a sliding mode-like modification of the control law results in a robustness-enhancing outer loop. Adaptive control is formulated within the same framework. A linear-in-the-parameters formulation is adopted and globally asymptotically stable adaptive control laws are derived by simply replacing unknown model parameters by their estimates (i.e., certainty equivalence adaptation).

  8. Steering Dynamic Performance of an Electric Transmission Tracked Vehicle Based on Rotating Speed Control

    Institute of Scientific and Technical Information of China (English)

    SUN Feng-chun; CHEN Shu-yong; ZHANG Cheng-ning

    2006-01-01

    In order to analyze steering dynamic performance of an electric transmission tracked vehicle exactly, modern design theory and methodology-collaborative simulation and virtual prototype are applied. The 3-D multi-body dynamic model of full vehicle running gears and control system model are built based on the simulation platform on dynamic analysis software known as RecurDyn/Track-HM and control system analysis software known as Matlab/Simulink. Theory analysis and collaborative simulation of turning kinematic/dynamic performance in different velocity and turning radius are made. Comparing the test result with theory computation validates the correctness of the model. The method has instructional significance of solving the existent modeling problem, comprehension of turning performance and test debugging strategy,and also forms a new idea of research on dynamic characteristics for the electric transmission tracked vehicle's electric propulsion system.

  9. Adaptive robust maximum power point tracking control for perturbed photovoltaic systems with output voltage estimation.

    Science.gov (United States)

    Koofigar, Hamid Reza

    2016-01-01

    The problem of maximum power point tracking (MPPT) in photovoltaic (PV) systems, despite the model uncertainties and the variations in environmental circumstances, is addressed. Introducing a mathematical description, an adaptive sliding mode control (ASMC) algorithm is first developed. Unlike many previous investigations, the output voltage is not required to be sensed and the upper bound of system uncertainties and the variations of irradiance and temperature are not required to be known. Estimating the output voltage by an update law, an adaptive-based H∞ tracking algorithm is then developed for the case the perturbations are energy-bounded. The stability analysis is presented for the proposed tracking control schemes, based on the Lyapunov stability theorem. From a comparison viewpoint, some numerical and experimental studies are also presented and discussed.

  10. On the Improved Nonlinear Tracking Differentiator based Nonlinear PID Controller Design

    Directory of Open Access Journals (Sweden)

    Ibraheem Kasim Ibraheem

    2016-10-01

    Full Text Available This paper presents a new improved nonlinear tracking differentiator (INTD with hyperbolic tangent function in the state-space system. The stability and convergence of the INTD are thoroughly investigated and proved. Through the error analysis, the proposed INTD can extract differentiation of any piecewise smooth nonlinear signal to reach a high accuracy. The improved tracking differentiator (INTD has the required filtering features and can cope with the nonlinearities caused by the noise. Through simulations, the INTD is implemented as a signal’s derivative generator for the closed-loop feedback control system with a nonlinear PID controller for the nonlinear Mass-Spring-Damper system and showed that it could achieve the signal tracking and differentiation faster with a minimum mean square error.

  11. Subjective evaluation with FAA criteria: A multidimensional scaling approach. [ground track control management

    Science.gov (United States)

    Kreifeldt, J. G.; Parkin, L.; Wempe, T. E.; Huff, E. F.

    1975-01-01

    Perceived orderliness in the ground tracks of five A/C during their simulated flights was studied. Dynamically developing ground tracks for five A/C from 21 separate runs were reproduced from computer storage and displayed on CRTS to professional pilots and controllers for their evaluations and preferences under several criteria. The ground tracks were developed in 20 seconds as opposed to the 5 minutes of simulated flight using speedup techniques for display. Metric and nonmetric multidimensional scaling techniques are being used to analyze the subjective responses in an effort to: (1) determine the meaningfulness of basing decisions on such complex subjective criteria; (2) compare pilot/controller perceptual spaces; (3) determine the dimensionality of the subjects' perceptual spaces; and thereby (4) determine objective measures suitable for comparing alternative traffic management simulations.

  12. Remote Control of an Autonomous Robotic Platform Based on Eye Tracking

    Directory of Open Access Journals (Sweden)

    PASARICA, A.

    2016-11-01

    Full Text Available Eye-tracking devices are currently used for improving communication and psychosocial status among patients with neuro-motor disabilities. This paper presents the experimental implementation of a control system for a robotic platform using eye tracking technology. The main system is based on an eye tracking subsystem that uses the circular Hough transform algorithm. A central processing unit performs the data transmission between the user and the robotic platform. Experimental tests were conducted to determine the device's performances and usability for patients with neuro-motor disabilities. Moreover, the test results were used to determine the control system learning curve. We created a data base containing information on the robotic platform processing time and precision of movement for improving the platform's performances.

  13. 碟式斯特林太阳自动跟踪控制系统设计%Design of Dish Stirling Solar Automatic Tracking Control System

    Institute of Scientific and Technical Information of China (English)

    范伟成; 宗情; 彭小方; 梁伟青

    2012-01-01

    针对碟式斯特林太阳能热发电中的太阳跟踪问题,提出了基于GPS的开环程序粗跟踪和四象限硅光电池跟踪校准的闭环跟踪解决方法。以ATmega128单片机为主控制器,根据GPS模块和反馈装置获得的信息,控制碟转向机构的水平、俯仰两个方向运动,实现对太阳位置的跟踪,形成了一个精度高、受环境影响较小的闭环控制系统,能够保证碟式聚光器的光斑始终落在斯特林发动机的接收器上。%Aiming at the solar tracking problem in Dish Stirling solar thermal power generation, this paper puts forward an open-loop program rough tracking based on GPS and four-quadrant silicon photocell close-loop tracking. Taking ATmega128 as main controller, a close-loop control system with high precision and less environmental impacts is formed. The system controls the movements o~ the dish steering machanism in horizontal direction and pitch attitude according to the information from GPS module and feedback instruments, and realizes sun position tracking. It can ensure the spot of the dish fall on the receiver of the Stirling engine all the time.

  14. Neural Network-Based Adaptive Backstepping Control for Hypersonic Flight Vehicles with Prescribed Tracking Performance

    OpenAIRE

    Zhu Guoqiang; Liu Jinkun

    2015-01-01

    An adaptive neural control scheme is proposed for a class of generic hypersonic flight vehicles. The main advantages of the proposed scheme include the following: (1) a new constraint variable is defined to generate the virtual control that forces the tracking error to fall within prescribed boundaries; (2) RBF NNs are employed to compensate for complex and uncertain terms to solve the problem of controller complexity; (3) only one parameter needs to be updated online at each design step, whi...

  15. Adaptive Trajectory Tracking Control of Wheeled Mobile Robots with Nonholonomic Constraint

    Institute of Scientific and Technical Information of China (English)

    LI Jian-hua; WANG Sun-an

    2005-01-01

    A mobile robot is one of the well-known nonholonomic systems. In this paper, a new adaptive tracking controller for the kinematic model of a nonholonomic mobile robot with unknown parameters is proposed. Stability of the rule is proved through the use of a Liapunov function. The artificial electrostatic field cooperates with error posture in steering in the controller. At last, this method is implemented on the simulations and the wheeled mobile robot. Results show the effectiveness of the controllers.

  16. Rotating Space Debris Tracking Based on The Orbit-Attitude Coordinated Control

    Science.gov (United States)

    Wang, Shuquan; Zhu, Lingchao

    2016-07-01

    This paper investigates the rotating space debris tracking problem. Active capturing and removal of space debris are challenging because the space debris is noncoorperating. The scenario considered is that a rotating space debris is the target to be captured by a spacecraft with a robotic arm. One rough approach is to capture the space debris with a strong arm then detumble the rotation of the whole system using the attitude control system on board. In this way the arm and the spacecraft have to be strong enough to withstand the impact caused by the relative orbital and attitude motions. Another way is to at first track the motion of the characterized surface, which should be easier to capture, of the debris. Then the robotic arm is engaged to capture the debris. In this way, the impact applied on the robotic arm is greatly reduced such that the possibility of causing new debris is also reduced. The orbit-attitude coordinated controller is developed to track the motion of the space debris. The controller is assymptotically stable without considering the boundness of the control efforts. The stability in the situation of bounded control inputs is analyzed. Analytical criterion for a successful tracking is obtained in the situation that rotational motion of the space debris is percession.

  17. Laser system for identification, tracking, and control of flying insects.

    Science.gov (United States)

    Mullen, Emma R; Rutschman, Phillip; Pegram, Nathan; Patt, Joseph M; Adamczyk, John J; Johanson, 3ric

    2016-05-30

    Flying insects are common vectors for transmission of pathogens and inflict significant harm to humans and agricultural production in many parts of the world. We present proof of principle for an optical system capable of highly specific vector control. This system utilizes a combination of optical sources, detectors, and sophisticated software to search, detect, and identify flying insects in real-time, with the capability of eradication using a lethal laser pulse. We present data on two insect species to show species distinction; Diaphorina citri, a vector of the causal agent of citrus greening disease, and Anopheles stephensi, a malaria vector.

  18. Parallel Tracking and Mapping for Controlling VTOL Airframe

    Directory of Open Access Journals (Sweden)

    Michal Jama

    2011-01-01

    Full Text Available This work presents a vision based system for navigation on a vertical takeoff and landing unmanned aerial vehicle (UAV. This is a monocular vision based, simultaneous localization and mapping (SLAM system, which measures the position and orientation of the camera and builds a map of the environment using a video stream from a single camera. This is different from past SLAM solutions on UAV which use sensors that measure depth, like LIDAR, stereoscopic cameras or depth cameras. Solution presented in this paper extends and significantly modifies a recent open-source algorithm that solves SLAM problem using approach fundamentally different from a traditional approach. Proposed modifications provide the position measurements necessary for the navigation solution on a UAV. The main contributions of this work include: (1 extension of the map building algorithm to enable it to be used realistically while controlling a UAV and simultaneously building the map; (2 improved performance of the SLAM algorithm for lower camera frame rates; and (3 the first known demonstration of a monocular SLAM algorithm successfully controlling a UAV while simultaneously building the map. This work demonstrates that a fully autonomous UAV that uses monocular vision for navigation is feasible.

  19. Tracking control of concentration profiles in a fed-batch bioreactor using a linear algebra methodology.

    Science.gov (United States)

    Rómoli, Santiago; Serrano, Mario Emanuel; Ortiz, Oscar Alberto; Vega, Jorge Rubén; Eduardo Scaglia, Gustavo Juan

    2015-07-01

    Based on a linear algebra approach, this paper aims at developing a novel control law able to track reference profiles that were previously-determined in the literature. A main advantage of the proposed strategy is that the control actions are obtained by solving a system of linear equations. The optimal controller parameters are selected through Monte Carlo Randomized Algorithm in order to minimize a proposed cost index. The controller performance is evaluated through several tests, and compared with other controller reported in the literature. Finally, a Monte Carlo Randomized Algorithm is conducted to assess the performance of the proposed controller. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  20. Eye-tracking controlled cognitive function tests in patients with amyotrophic lateral sclerosis: a controlled proof-of-principle study.

    Science.gov (United States)

    Keller, Jürgen; Gorges, Martin; Horn, Hannah T; Aho-Özhan, Helena E A; Pinkhardt, Elmar H; Uttner, Ingo; Kassubek, Jan; Ludolph, Albert C; Lulé, Dorothée

    2015-08-01

    Amyotrophic lateral sclerosis (ALS) primarily affects motor and speech abilities. In addition, cognitive functions are impaired in a subset of patients. There is a need to establish an eye movement-based method of neuropsychological assessment suitable for severely physically impaired patients with ALS. Forty-eight ALS patients and thirty-two healthy controls matched for age, sex and education performed a hand and speech motor-free version of the Raven's coloured progressive matrices (CPM) and the D2-test which had been especially adapted for eye-tracking control. Data were compared to a classical motor-dependent paper-pencil version. The association of parameters of the eye-tracking and the paper-pencil version of the tests and the differences between and within groups were studied. Subjects presented similar results in the eye-tracking and the corresponding paper-pencil versions of the CPM and D2-test: a correlation between performance accuracy for the CPM was observed for ALS patients (p < 0.001) and controls (p < 0.001) and in the D2-test for controls (p = 0.048), whereas this correlation did not reach statistical significance for ALS patients (p = 0.096). ALS patients performed worse in the CPM than controls in the eye-tracking (p = 0.053) and the paper-pencil version (p = 0.042). Most importantly, eye-tracking versions of the CPM (p < 0.001) and the D2-test (p = 0.024) reliably distinguished between more and less cognitively impaired patients. Eye-tracking-based neuropsychological testing is a promising approach for assessing cognitive deficits in patients who are unable to speak or write such as patients with severe ALS.

  1. Tracking performance and global stability guaranteed neural control of uncertain hypersonic flight vehicle

    Directory of Open Access Journals (Sweden)

    Tao Teng

    2016-02-01

    Full Text Available In this article, a global adaptive neural dynamic surface control with predefined tracking performance is developed for a class of hypersonic flight vehicles, whose accurate dynamics is hard to obtain. The control scheme developed in this paper overcomes the limitations of neural approximation region by employing a switching mechanism which incorporates an additional robust controller outside the neural approximation region to pull the transient state variables back when they overstep the neural approximation region, such that globally uniformly ultimately bounded stability can be guaranteed. Especially, the developed global adaptive neural control also improves the tracking performance by introducing an error transformation mechanism, such that both transient and steady-state performance can be shaped according to the predefined bounds. Simulation studies on the hypersonic flight vehicle validate that the designed controller has good velocity modulation and velocity stability performance.

  2. Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter

    Directory of Open Access Journals (Sweden)

    Xing Fang

    2015-01-01

    Full Text Available This paper presents a highly robust trajectory tracking controller for small unmanned helicopter with model uncertainties and external disturbances. First, a simplified dynamic model is developed, where the model uncertainties and external disturbances are treated as compounded disturbances. Then the system is divided into three interconnected subsystems: altitude subsystem, yaw subsystem, and horizontal subsystem. Second, a disturbance observer based controller (DOBC is designed based upon backstepping and multivariable super twisting control algorithm to obtain robust trajectory tracking property. A sliding mode observer works as an estimator of the compounded disturbances. In order to lessen calculative burden, a first-order exact differentiator is employed to estimate the time derivative of the virtual control. Moreover, proof of the stability of the closed-loop system based on Lyapunov method is given. Finally, simulation results are presented to illustrate the effectiveness and robustness of the proposed flight control scheme.

  3. Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study

    Directory of Open Access Journals (Sweden)

    Faten Baklouti

    2016-01-01

    Full Text Available The trajectory tracking of underactuated nonlinear system with two degrees of freedom is tackled by an adaptive fuzzy hierarchical sliding mode controller. The proposed control law solves the problem of coupling using a hierarchical structure of the sliding surfaces and chattering by adopting different reaching laws. The unknown system functions are approximated by fuzzy logic systems and free parameters can be updated online by adaptive laws based on Lyapunov theory. Two comparative studies are made in this paper. The first comparison is between three different expressions of reaching laws to compare their abilities to reduce the chattering phenomenon. The second comparison is made between the proposed adaptive fuzzy hierarchical sliding mode controller and two other control laws which keep the coupling in the underactuated system. The tracking performances of each control law are evaluated. Simulation examples including different amplitudes of external disturbances are made.

  4. Fractional order nonsingular terminal sliding mode control for flexible spacecraft attitude tracking

    Institute of Scientific and Technical Information of China (English)

    GAO; Junshan; DENG; Liwei; SONG; Shenmin

    2016-01-01

    This paper investigates a fractional terminal sliding mode control for flexible spacecraft attitude tracking in the presence of inertia uncertainties and external disturbances. The controller is based on the fractional calculus and nonsingular terminal sliding mode control technique,and it guarantees the convergence of attitude tracking error in finite time rather than in the asymptotic sense. With respect to the controller,a fractional order sliding surface is given,the corresponding control scheme is proposed based on Lyapunov stability theory to guarantee the sliding condition,and the finite time stability of the whole close loop system is also proven. Finally,numerical simulations are presented to illustrate the performance of the proposed scheme.

  5. Global Tracking Control of Quadrotor VTOL Aircraft in Three-Dimensional Space

    Directory of Open Access Journals (Sweden)

    Duc Khac Do

    2014-07-01

    Full Text Available This paper presents a method to design controllers that force a quadrotor vertical take-off and landing (VTOL aircraft to globally asymptotically track a reference trajectory in three-dimensional space. Motivated by the vehicle's steering practice, the roll and pitch angles are considered as immediate controls plus the total thrust force  provided by the aircraft's four rotors to control the position and yaw angle of the aircraft. The control design is based on the newly introduced one-step ahead backstepping, the standard backstepping and Lyapunov's direct methods. A combination of Euler angles and unit-quaternion for the attitude representation of the aircraft is used to obtain global tracking control results. The paper also includes a design of observers that exponentially estimate the aircraft's linear velocity vector and disturbances. Simulations illustrate the results.

  6. Global Inverse Optimal Tracking Control of Underactuated Omni-directional Intelligent Navigators (ODINs)

    Institute of Scientific and Technical Information of China (English)

    Khac Duc Do

    2015-01-01

    This paper presents a design of optimal controllers with respect to a meaningful cost function to force an underactuated omni-directional intelligent navigator (ODIN) under unknown constant environmental loads to track a reference trajectory in two-dimensional space. Motivated by the vehicle’s steering practice, the yaw angle regarded as a virtual control plus the surge thrust force are used to force the position of the vehicle to globally track its reference trajectory. The control design is based on several recent results developed for inverse optimal control and stability analysis of nonlinear systems, a new design of bounded disturbance observers, and backstepping and Lyapunov’s direct methods. Both state- and output-feedback control designs are addressed. Simulations are included to illustrate the effectiveness of the proposed results.

  7. Sun Safety

    Science.gov (United States)

    ... Potential Partners for Comprehensive Cancer Control Coalitions References Statistics Rates by Race and Ethnicity Rates by State Trends Behavior Rates What CDC Is Doing Skin Cancer Prevention Progress Report The Burning Truth Initiative A ...

  8. Horizon-Switching Predictive Set-Point Tracking under Mixed Control Saturations and Persistent Disturbances

    NARCIS (Netherlands)

    Mosca, Edoardo; Tesi, Pietro; Zhang, Jingxin

    2008-01-01

    This paper extends of the horizon-switching predictive control approach, so far restricted to positional input saturation and the pure regulation problem, to the case of set-point tracking. It is proved a basic feasibility property which makes it possible to extend this approach so as to achieve off

  9. Error tracking control for underactuated overhead cranes against arbitrary initial payload swing angles

    Science.gov (United States)

    Zhang, Menghua; Ma, Xin; Rong, Xuewen; Tian, Xincheng; Li, Yibin

    2017-02-01

    This paper exploits an error tracking control method for overhead crane systems for which the error trajectories for the trolley and the payload swing can be pre-specified. The proposed method does not require that the initial payload swing angle remains zero, whereas this requirement is usually assumed in conventional methods. The significant feature of the proposed method is its superior control performance as well as its strong robustness over different or uncertain rope lengths, payload masses, desired positions, initial payload swing angles, and external disturbances. Owing to the same attenuation behavior, the desired error trajectory for the trolley for each traveling distance is not needed to be reset, which is easy to implement in practical applications. By converting the error tracking overhead crane dynamics to the objective system, we obtain the error tracking control law for arbitrary initial payload swing angles. Lyapunov techniques and LaSalle's invariance theorem are utilized to prove the convergence and stability of the closed-loop system. Simulation and experimental results are illustrated to validate the superior performance of the proposed error tracking control method.

  10. Tracking control and synchronization of chaotic systems based upon sampled-data feedback

    Institute of Scientific and Technical Information of China (English)

    陈士华; 刘杰; 谢进; 陆君安

    2002-01-01

    A novel tracking control and synchronization method is proposed based upon sampled-data feedback. This methodcan make a chaotic system approach any desired smooth orbit and synchronize the driving system and the responsesystem, both in the same structure and in diverse structures. Finally, a numerical simulation with a Lorenz system isprovided for the purpose of illustration and verification.

  11. Self-directed learning skills in air-traffic control training; An eye-tracking approach

    NARCIS (Netherlands)

    Van Meeuwen, Ludo; Brand-Gruwel, Saskia; Van Merriënboer, Jeroen; Bock, Jeano; Kirschner, Paul A.

    2011-01-01

    Van Meeuwen, L. W., Brand-Gruwel, S., De Bock, J. J. P. R., Kirschner, P. A., & Van Merriënboer, J. J. G. (2010, September). Self-directed Learning Skills in Air-traffic Control Training; An Eye-tracking Approach. Paper presented at the European Association for Aviation Psychology, Budapest.

  12. Expertise differences in air traffic control: An eye-tracking study

    NARCIS (Netherlands)

    Van Meeuwen, Ludo; Jarodzka, Halszka; Brand-Gruwel, Saskia; Kirschner, Paul A.; De Bock, Jeano; Van Merriënboer, Jeroen

    2012-01-01

    Van Meeuwen, L. W., Jarodzka, H., Brand-Gruwel, S., Kirschner, P. A., De Bock, J. J. P. R., & Van Merriënboer, J. J. G. (2012, April). Expertise differences in air traffic control: An eye-tracking study. Paper presented at the American Educational Research Association Annual Meeting 2012, Vancouver,

  13. Tracking and convergence of multi-channel kalman filters for active noise control

    NARCIS (Netherlands)

    Berkhoff, A.; Ophem, S. van

    2013-01-01

    The feed-forward broadband active noise control problem can be formulated as a state estimation problem to achieve a faster rate of convergence than the filtered reference least mean squares algorithm and possibly also a better tracking performance. A multiple input/multiple output Kalman algorithm

  14. Tracking and convergence of multi-channel Kalman filters for active noise control

    NARCIS (Netherlands)

    Berkhoff, A.P.; Ophem, S. van

    2013-01-01

    The feed-forward broadband active noise control problem can be formulated as a state estimation problem to achieve a faster rate of convergence than the filtered reference least mean squares algorithm and possibly also a better tracking performance. A multiple input/multiple output Kalman algorithm

  15. Expertise differences in air traffic control: An eye-tracking study

    NARCIS (Netherlands)

    Van Meeuwen, Ludo; Jarodzka, Halszka; Brand-Gruwel, Saskia; Kirschner, Paul A.; De Bock, Jeano; Van Merriënboer, Jeroen

    2012-01-01

    Van Meeuwen, L. W., Jarodzka, H., Brand-Gruwel, S., Kirschner, P. A., De Bock, J. J. P. R., & Van Merriënboer, J. J. G. (2012, April). Expertise differences in air traffic control: An eye-tracking study. Paper presented at the American Educational Research Association Annual Meeting 2012, Vancouver,

  16. First responder tracking and visualization for command and control toolkit

    Science.gov (United States)

    Woodley, Robert; Petrov, Plamen; Meisinger, Roger

    2010-04-01

    In order for First Responder Command and Control personnel to visualize incidents at urban building locations, DHS sponsored a small business research program to develop a tool to visualize 3D building interiors and movement of First Responders on site. 21st Century Systems, Inc. (21CSI), has developed a toolkit called Hierarchical Grid Referenced Normalized Display (HiGRND). HiGRND utilizes three components to provide a full spectrum of visualization tools to the First Responder. First, HiGRND visualizes the structure in 3D. Utilities in the 3D environment allow the user to switch between views (2D floor plans, 3D spatial, evacuation routes, etc.) and manually edit fast changing environments. HiGRND accepts CAD drawings and 3D digital objects and renders these in the 3D space. Second, HiGRND has a First Responder tracker that uses the transponder signals from First Responders to locate them in the virtual space. We use the movements of the First Responder to map the interior of structures. Finally, HiGRND can turn 2D blueprints into 3D objects. The 3D extruder extracts walls, symbols, and text from scanned blueprints to create the 3D mesh of the building. HiGRND increases the situational awareness of First Responders and allows them to make better, faster decisions in critical urban situations.

  17. Design and performance analysis of tracking controller for uncertain nonlinear composite system using neural networks

    Institute of Scientific and Technical Information of China (English)

    Endong LIU; Yuanwei JING; Siying ZHANG

    2005-01-01

    Based on high order dynamic neural network,this paper presents the tracking problem for uncertain nonlinear composite system,which contains external disturbance,whose nonlinearities are assumed to be unknown.A smooth controller is designed to guarantee a uniform ultimate boundedness property for the tracking error and all other signals in the closed loop.Certain measures are utilized to test its performance.No a priori knowledge of an upper bound on the "optimal" weight and modeling error is required;the weights of neural networks are updated on-line.Numerical simulations performed on a simple example illustrate and clarify the approach.

  18. Development of requirements tracking and verification system for the software design of distributed control system

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Chul Hwan; Kim, Jang Yeol; Kim, Jung Tack; Lee, Jang Soo; Ham, Chang Shik [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    1998-12-31

    In this paper a prototype of Requirement Tracking and Verification System(RTVS) for a Distributed Control System was implemented and tested. The RTVS is a software design and verification tool. The main functions required by the RTVS are managing, tracking and verification of the software requirements listed in the documentation of the DCS. The analysis of DCS software design procedures and interfaces with documents were performed to define the user of the RTVS, and the design requirements for RTVS were developed. 4 refs., 3 figs. (Author)

  19. 太阳能板自动寻光转动控制系统%Design of automatic solar tracking control system for solar panel

    Institute of Scientific and Technical Information of China (English)

    张秀再; 王婷婷; 黄建松

    2014-01-01

    An automatic solar tracking control system is designed to improve the photovoltaic conversion efficiency of solar panel.The device will detect the sunlight direction through light tracking circuit,and send the deviation sig-nal to single chip microcomputer ( SCM) through A/D conversion circuit,then the SCM will produce a correspond-ing adjustment signal to drive the machine to follow the track of the sun.Being simple in structure,cheap in cost and reliable in tracking precision,this control system can be applied to solar power system to increase solar energy utili-zation efficiency.%为了提高光伏太阳能板的太阳能转换效率,设计了一种太阳能板自动寻光转动控制器,此装置通过寻光电路检测太阳光源方向,当产生偏差信号时,经A/D转换电路输入单片机,单片机处理输出相应电信号驱动电机转动,准确地跟踪太阳光线移动。该装置结构简单、成本低廉、跟踪精度高,可用于太阳能发电系统中,能够提高太阳能的利用效率。

  20. Investigation of Control Algorithms for Tracked Vehicle Mobility Load Emulation for a Combat Hybrid Electric Power System

    Science.gov (United States)

    2009-07-30

    Investigation of Control Algorithms for Tracked Vehicle Mobility Load Emulation for a Combat Hybrid Electric Power System Jarrett Goodell and...TITLE AND SUBTITLE Investigation of Control Algorithms for Tracked Vehicle Mobility Load Emulation for a Combat Hybrid Electric Power System 5a...for ~ 22 ton tracked vehicle • Tested and Developed: – Motors, Generators, Batteries, Inverters, DC-DC Converters , Thermal Management, Pulse Power

  1. 太阳能电池板自动追光控制系统设计%Design of control system for solar panel automatic tracking

    Institute of Scientific and Technical Information of China (English)

    蔺金元

    2012-01-01

    In order to use solar-powered, a system that solar panel can automatic track the sun is produced. The system use combined method of solar movement tracking and maximum power point seeking, it controls solar energy conversion utilization device automatically and rotated it to aim at the sun, and it can raise the solar energy absorption rate. In the system, single- chip microcomputer is used as the controller, small solar battery is used as sensor, and stepper motor is used as actuating mechanism. The system has some practical value for devices which rely on the solar energy.%为实现太阳能供电,介绍了一种太阳自动追踪系统.该系统采用视日运动跟踪与寻求最大功率点相结合的方法,控制太阳能转换利用装置自动旋转去对准太阳,能有效提高太阳能的吸收率.该系统采用单片机作为控制器,小型太阳能电池作为传感器,步进电机作为执行机构.对于各种利用太阳能作为能源的自动装置而言.这种自动追踪系统具有一定的实用价值.

  2. Active disturbance rejection controller of fine tracking system for free space optical communication

    Science.gov (United States)

    Cui, Ning; Liu, Yang; Chen, Xinglin; Wang, Yan

    2013-08-01

    Free space optical communication is one of the best approaches in future communications. Laser beam's acquisition, pointing and tracking are crucial technologies of free space optical communication. Fine tracking system is important component of APT (acquisition, pointing and tracking) system. It cooperates with the coarse pointing system in executing the APT mission. Satellite platform vibration and disturbance, which reduce received optical power, increase bit error rate and affect seriously the natural performance of laser communication. For the characteristic of satellite platform, an active disturbance rejection controller was designed to reduce the vibration and disturbance. There are three major contributions in the paper. Firstly, the effects of vibration on the inter satellite optical communications were analyzed, and the reasons and characters of vibration of the satellite platform were summarized. The amplitude-frequency response of a filter was designed according to the power spectral density of platform vibration of SILEX (Semiconductor Inter-satellite Laser Experiment), and then the signals of platform vibration were generated by filtering white Gaussian noise using the filter. Secondly, the fast steering mirror is a key component of the fine tracking system for optical communication. The mechanical design and model analysis was made to the tip/tilt mirror driven by the piezoelectric actuator and transmitted by the flexure hinge. The transfer function of the fast steering mirror, camera, D/A data acquisition card was established, and the theory model of transfer function of this system was further obtained. Finally, an active disturbance rejection control method is developed, multiple parallel extended state observers were designed for estimation of unknown dynamics and external disturbance, and the estimated states were used for nonlinear feedback control and compensation to improve system performance. The simulation results show that the designed

  3. The Hubble Space Telescope fine guidance system operating in the coarse track pointing control mode

    Science.gov (United States)

    Whittlesey, Richard

    1993-01-01

    The Hubble Space Telescope (HST) Fine Guidance System has set new standards in pointing control capability for earth orbiting spacecraft. Two precision pointing control modes are implemented in the Fine Guidance System; one being a Coarse Track Mode which employs a pseudo-quadrature detector approach and the second being a Fine Mode which uses a two axis interferometer implementation. The Coarse Track Mode was designed to maintain FGS pointing error to within 20 milli-arc seconds (rms) when guiding on a 14.5 Mv star. The Fine Mode was designed to maintain FGS pointing error to less than 3 milli-arc seconds (rms). This paper addresses the HST FGS operating in the Coarse Track Mode. An overview of the implementation, the operation, and both the predicted and observed on orbit performance is presented. The discussion includes a review of the Fine Guidance System hardware which uses two beam steering Star Selector servos, four photon counting photomultiplier tube detectors, as well as a 24 bit microprocessor, which executes the control system firmware. Unanticipated spacecraft operational characteristics are discussed as they impact pointing performance. These include the influence of spherically aberrated star images as well as the mechanical shocks induced in the spacecraft during and following orbital day/night terminator crossings. Computer modeling of the Coarse Track Mode verifies the observed on orbit performance trends in the presence of these optical and mechanical disturbances. It is concluded that the coarse track pointing control function is performing as designed and is providing a robust pointing control capability for the Hubble Space Telescope.

  4. Trajectory tracking control of variable length pendulum by partial energy shaping

    Science.gov (United States)

    Xin, Xin; Liu, Yannian

    2014-05-01

    This paper concerns a trajectory tracking control problem for a pendulum with variable length, which is an underactuated mechanical system of two degrees-of-freedom with a single input of adjusting the length of the pendulum. We aim to study whether it is possible to design a time-invariant control law to pump appropriate energy into the variable length pendulum for achieving a desired swing motion (trajectory) with given desired energy and length of the pendulum. First, we show that it is difficult to avoid singular points in the controller designed by using the conventional energy-based control approach in which the total mechanical energy of the pendulum is controlled. Second, we present a tracking controller free of singular points by using only the kinetic energy of rotation and the potential energy of the pendulum and not using the kinetic energy of the motion along the rod. Third, we analyze globally the motion of the pendulum and clarify the stability issue of two closed-loop equilibrium points; and we also provide some conditions on control parameters for achieving the tracking objective. Finally, we show numerical simulation results to validate the presented theoretical results.

  5. Discrete Neural Altitude Control for Hypersonic Vehicle Via Flight Path Angle Tracking

    Directory of Open Access Journals (Sweden)

    Shixing Wang

    2012-09-01

    Full Text Available In this study, the altitude control is analyzed for the longitudinal dynamics of a generic Hypersonic Flight Vehicle (HFV. By transforming altitude command into the tracking of flight path angle with fast dynamics, the system design is focusing on the control of the attitude subsystem. The virtual control is designed with nominal feedback and Neural Network (NN approximation via back-stepping. Under the proposed controller, the Semiglobal Uniform Ultimate Boundedness (SGUUB stability is guaranteed. The slow dynamics are transformed into the parameter estimation problem and the update law is designed. The simulation is presented to show the effectiveness of the proposed control approach.

  6. PID feedback for mixed H2/H∞ tracking control of robotic manipulators

    Institute of Scientific and Technical Information of China (English)

    黄春庆; 施颂椒

    2004-01-01

    The design objective of a mixed H2/H∞ control is to find the H2 optimal control law under aprescribed disturbance attenuation level. This paper addresses a optimal PID control law on the basis of the newsolution to mixed H2/H∞optimal control problem that provide much more flexible design compared to the existing works. Then a closed-form PID controller to mixed H2/H∞ robotic tracking problem is simply constructed and hence the design procedure is presented.Finally, numerical simulations illustrate the effectiveness of the optimal PID feedback design proposed in this paper via a two-link robotic manipulator.

  7. Robust Regulation and Tracking Control of a Class of Uncertain 2DOF Underactuated Mechanical Systems

    Directory of Open Access Journals (Sweden)

    David I. Rosas Almeida

    2015-01-01

    Full Text Available A strategy to design and implement a robust controller for a class of underactuated mechanical systems, with two degrees of freedom, which solves the problems of regulation and trajectory tracking, is proposed. This control strategy considers the partial measurement of the state vector and the presence of parametric uncertainties in the plant; these conditions are common in the implementation of a control system. The strategy is based on the use of robust finite time convergence observers to estimate the unmeasured state variables, unknown disturbances, and other signals needed for the control system implementation. The performance of the control strategy is illustrated numerically and experimentally.

  8. Approximation-Based Adaptive Tracking Control for MIMO Nonlinear Systems With Input Saturation.

    Science.gov (United States)

    Zhou, Qi; Shi, Peng; Tian, Yang; Wang, Mingyu

    2015-10-01

    In this paper, an approximation-based adaptive tracking control approach is proposed for a class of multiinput multioutput nonlinear systems. Based on the method of neural network, a novel adaptive controller is designed via backstepping design process. Furthermore, by introducing Nussbaum function, the issue of unknown control directions is handled. In the backstepping design process, the dynamic surface control technique is employed to avoid differentiating certain nonlinear functions repeatedly. Moreover, in order to reduce the number of adaptation laws, we do not use the neural networks to directly approximate the unknown nonlinear functions but the desired control signals. Finally, we provide two examples to illustrate the effectiveness of the proposed approach.

  9. Global asymptotic stability of a tracking sectorial fuzzy controller for robot manipulators.

    Science.gov (United States)

    Santibañez, Victor; Kelly, Rafael; Llama, Miguel A

    2004-02-01

    This paper shows that fuzzy control systems satisfying sectorial properties are effective for motion tracking control of robot manipulators. We propose a controller whose structure is composed by a sectorial fuzzy controller plus a full nonlinear robot dynamics compensation, in such a way that this structure leads to a very simple closed-loop system represented by an autonomous nonlinear differential equation. We demonstrate via Lyapunov theory, that the closed-loop system is globally asymptotically stable. Experimental results show the feasibility of the proposed controller.

  10. Passive solar tracking system for steerable Fresnel elements

    Energy Technology Data Exchange (ETDEWEB)

    Hitchcock, R.D.

    1976-10-12

    An angular tracking servo system is described for passive tracking of the sun. Solar radiation is used to control the attitude of a mirror element in an array of Fresnel reflectors. The array collects and focuses solar energy onto a high efficiency conversion device. The energy required to move the mirror element is supplied by a gear system which is attached through a pivot arm to a vertically moving float immersed in a chamber containing water.

  11. Tracking Control of a Magnetic Shape Memory Actuator Using an Inverse Preisach Model with Modified Fuzzy Sliding Mode Control.

    Science.gov (United States)

    Lin, Jhih-Hong; Chiang, Mao-Hsiung

    2016-08-25

    Magnetic shape memory (MSM) alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC) which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved.

  12. Tracking Control of a Magnetic Shape Memory Actuator Using an Inverse Preisach Model with Modified Fuzzy Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Jhih-Hong Lin

    2016-08-01

    Full Text Available Magnetic shape memory (MSM alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. In this paper, the Preisach model was used, by capturing experiments from different input signals and output responses, to model the hysteresis of MSM actuator, and the inverse Preisach model, as a feedforward control, provided compensational signals to the MSM actuator to linearize the hysteresis non-linearity. The control strategy for path tracking combined the hysteresis compensator and the modified fuzzy sliding mode control (MFSMC which served as a path controller. Based on the experimental results, it was verified that a tracking error in the order of micrometers was achieved.

  13. Visual Servoing Tracking Control of a Ball and Plate System: Design, Implementation and Experimental Validation

    Directory of Open Access Journals (Sweden)

    Ming-Tzu Ho

    2013-07-01

    Full Text Available This paper presents the design, implementation and validation of real‐time visual servoing tracking control for a ball and plate system. The position of the ball is measured with a machine vision system. The image processing algorithms of the machine vision system are pipelined and implemented on a field programmable gate array (FPGA device to meet real‐ time constraints. A detailed dynamic model of the system is derived for the simulation study.By neglecting the high‐order coupling terms, the ball and plate system model is simplified into two decoupled ball and beam systems, and an approximate input‐ output feedback linearization approach is then used to design the controller for trajectory tracking. The designed control law is implemented on a digital signal processor (DSP. The validity of the performance of the developed control system is investigated through simulation and experimental studies. Experimental results show that the designed system functions well with reasonable agreement with simulations.

  14. Performance analysis of active disturbance rejection tracking control for a class of uncertain LTI systems.

    Science.gov (United States)

    Xue, Wenchao; Huang, Yi

    2015-09-01

    The paper considers the tracking problem for a class of uncertain linear time invariant (LTI) systems with both uncertain parameters and external disturbances. The active disturbance rejection tracking controller is designed and the resulting closed-loop system's characteristics are comprehensively studied. In the time-domain, it is proven that the output of closed-loop system can approach its ideal trajectory in the transient process against different kinds of uncertainties by tuning the bandwidth of extended state observer (ESO). In the frequency-domain, different kinds of parameters' influences on the phase margin and the crossover frequency of the resulting control system are illuminated. Finally, the effectiveness and robustness of the controller are verified through the actuator position control system with uncertain parameters and load disturbances in the simulations.

  15. Visual Servoing Tracking Control of a Ball and Plate System: Design, Implementation and Experimental Validation

    Directory of Open Access Journals (Sweden)

    Ming-Tzu Ho

    2013-07-01

    Full Text Available This paper presents the design, implementation and validation of real-time visual servoing tracking control for a ball and plate system. The position of the ball is measured with a machine vision system. The image processing algorithms of the machine vision system are pipelined and implemented on a field programmable gate array (FPGA device to meet real-time constraints. A detailed dynamic model of the system is derived for the simulation study. By neglecting the high-order coupling terms, the ball and plate system model is simplified into two decoupled ball and beam systems, and an approximate input-output feedback linearization approach is then used to design the controller for trajectory tracking. The designed control law is implemented on a digital signal processor (DSP. The validity of the performance of the developed control system is investigated through simulation and experimental studies. Experimental results show that the designed system functions well with reasonable agreement with simulations.

  16. Robust Redundant Input Reliable Tracking Control for Omnidirectional Rehabilitative Training Walker

    Directory of Open Access Journals (Sweden)

    Ping Sun

    2014-01-01

    Full Text Available The problem of robust reliable tracking control on the omnidirectional rehabilitative training walker is examined. The new nonlinear redundant input method is proposed when one wheel actuator fault occurs. The aim of the study is to design an asymptotically stable controller that can guarantee the safety of the user and ensure tracking on a training path planned by a physical therapist. The redundant degrees of freedom safety control and the asymptotically zero state detectable concept of the walker are presented, the model of redundant degree is constructed, and the property of center of gravity constant shift is obtained. A controller that can satisfy asymptotic stability is obtained using a common Lyapunov function for admissible uncertainties resulting from an actuator fault. Simulation results confirm the effectiveness of the proposed method and verify that the walker can provide safe sequential motion when one wheel actuator is at fault.

  17. Dynamic Modeling and Control Strategy Optimization for a Hybrid Electric Tracked Vehicle

    Directory of Open Access Journals (Sweden)

    Hong Wang

    2015-01-01

    Full Text Available A new hybrid electric tracked bulldozer composed of an engine generator, two driving motors, and an ultracapacitor is put forward, which can provide high efficiencies and less fuel consumption comparing with traditional ones. This paper first presents the terramechanics of this hybrid electric tracked bulldozer. The driving dynamics for this tracked bulldozer is then analyzed. After that, based on analyzing the working characteristics of the engine, generator, and driving motors, the power train system model and control strategy optimization is established by using MATLAB/Simulink and OPTIMUS software. Simulation is performed under a representative working condition, and the results demonstrate that fuel economy of the HETV can be significantly improved.

  18. Lidar-based wake tracking for closed-loop wind farm control

    Science.gov (United States)

    Raach, Steffen; Schlipf, David; Cheng, Po Wen

    2016-09-01

    This work presents two advancements towards closed-loop wake redirecting of a wind turbine. First, a model-based estimation approach is presented which uses a nacelle-based lidar system facing downwind to obtain information about the wake. A reduced order wake model is described which is then used in the estimation to track the wake. The tracking is demonstrated with lidar measurement data from an offshore campaign and with simulated lidar data from a SOWFA simulation. Second, a controller for closed-loop wake steering is presented. It uses the wake tracking information to set the yaw actuator of the wind turbine to redirect the wake to a desired position. Altogether, this paper aims to present the concept of closed-loop wake redirecting and gives a possible solution to it.

  19. Data-Driven Multiagent Systems Consensus Tracking Using Model Free Adaptive Control.

    Science.gov (United States)

    Bu, Xuhui; Hou, Zhongsheng; Zhang, Hongwei

    2017-03-14

    This paper investigates the data-driven consensus tracking problem for multiagent systems with both fixed communication topology and switching topology by utilizing a distributed model free adaptive control (MFAC) method. Here, agent's dynamics are described by unknown nonlinear systems and only a subset of followers can access the desired trajectory. The dynamical linearization technique is applied to each agent based on the pseudo partial derivative, and then, a distributed MFAC algorithm is proposed to ensure that all agents can track the desired trajectory. It is shown that the consensus error can be reduced for both time invariable and time varying desired trajectories. The main feature of this design is that consensus tracking can be achieved using only input-output data of each agent. The effectiveness of the proposed design is verified by simulation examples.

  20. Robust consensus tracking control for multiagent systems with initial state shifts, disturbances, and switching topologies.

    Science.gov (United States)

    Meng, Deyuan; Jia, Yingmin; Du, Junping

    2015-04-01

    This paper deals with the consensus tracking control issues of multiagent systems and aims to solve them as accurately as possible over a finite time interval through an iterative learning approach. Based on the iterative rule, distributed algorithms are proposed for every agent using its nearest neighbor knowledge, for which the robustness problem is addressed against initial state shifts, disturbances, and switching topologies. These uncertainties are dynamically changing not only along the time axis but also the iteration axis. It is shown that the matrix norm conditions can be developed to achieve the convergence of the considered consensus tracking objectives, for which necessary and sufficient conditions are presented in terms of linear matrix inequalities to guarantee their feasibility in the sense of the spectral norm. Furthermore, simulation examples are given to illustrate the effectiveness and robustness of the obtained consensus tracking results.

  1. Target Tracking in 3-D Using Estimation Based Nonlinear Control Laws for UAVs

    Directory of Open Access Journals (Sweden)

    Mousumi Ahmed

    2016-02-01

    Full Text Available This paper presents an estimation based backstepping like control law design for an Unmanned Aerial Vehicle (UAV to track a moving target in 3-D space. A ground-based sensor or an onboard seeker antenna provides range, azimuth angle, and elevation angle measurements to a chaser UAV that implements an extended Kalman filter (EKF to estimate the full state of the target. A nonlinear controller then utilizes this estimated target state and the chaser’s state to provide speed, flight path, and course/heading angle commands to the chaser UAV. Tracking performance with respect to measurement uncertainty is evaluated for three cases: (1 stationary white noise; (2 stationary colored noise and (3 non-stationary (range correlated white noise. Furthermore, in an effort to improve tracking performance, the measurement model is made more realistic by taking into consideration range-dependent uncertainties in the measurements, i.e., as the chaser closes in on the target, measurement uncertainties are reduced in the EKF, thus providing the UAV with more accurate control commands. Simulation results for these cases are shown to illustrate target state estimation and trajectory tracking performance.

  2. Tracking food intake as bites: Effects on cognitive resources, eating enjoyment, and self-control.

    Science.gov (United States)

    Weathers, Danny; Siemens, Jennifer Christie; Kopp, Steven W

    2017-04-01

    While monitoring food intake is critical for controlling eating, traditional tools designed for this purpose can be impractical when one desires real-time feedback. Further, the act of monitoring can deplete valuable cognitive resources. In response to these concerns, technologies have been developed to aid those wanting to control their food intake. Of note, devices can now track eating in number of bites taken as opposed to more traditional units such as pieces or volume. Through two studies, the current research investigates the effects of tracking food portions at the bite level on cognitive resources, enjoyment of the eating experience, and objective and subjective self-control. Results indicate that using wearable technology to track bite portions, as compared to doing so mentally, (1) reduces cognitive resource depletion, (2) is equally as effective for allowing users to successfully achieve eating goals, and (3) does not reduce enjoyment of the eating experience. These results support the viability of tracking food intake at the bite level, which holds a number of potential implications for eating and weight management.

  3. Graph theoretic framework based cooperative control and estimation of multiple UAVs for target tracking

    Science.gov (United States)

    Ahmed, Mousumi

    Designing the control technique for nonlinear dynamic systems is a significant challenge. Approaches to designing a nonlinear controller are studied and an extensive study on backstepping based technique is performed in this research with the purpose of tracking a moving target autonomously. Our main motivation is to explore the controller for cooperative and coordinating unmanned vehicles in a target tracking application. To start with, a general theoretical framework for target tracking is studied and a controller in three dimensional environment for a single UAV is designed. This research is primarily focused on finding a generalized method which can be applied to track almost any reference trajectory. The backstepping technique is employed to derive the controller for a simplified UAV kinematic model. This controller can compute three autopilot modes i.e. velocity, ground heading (or course angle), and flight path angle for tracking the unmanned vehicle. Numerical implementation is performed in MATLAB with the assumption of having perfect and full state information of the target to investigate the accuracy of the proposed controller. This controller is then frozen for the multi-vehicle problem. Distributed or decentralized cooperative control is discussed in the context of multi-agent systems. A consensus based cooperative control is studied; such consensus based control problem can be viewed from the algebraic graph theory concepts. The communication structure between the UAVs is represented by the dynamic graph where UAVs are represented by the nodes and the communication links are represented by the edges. The previously designed controller is augmented to account for the group to obtain consensus based on their communication. A theoretical development of the controller for the cooperative group of UAVs is presented and the simulation results for different communication topologies are shown. This research also investigates the cases where the communication

  4. Second Order Sliding Mode-Based Output Feedback Tracking Control for Uncertain Robot Manipulators

    OpenAIRE

    Van, Mien; Hee-Jun Kang; Young-Soo Suh

    2013-01-01

    In this paper, a robust output feedback tracking control scheme for motion control of uncertain robot manipulators without joint velocity measurement based on a second-order sliding mode (SOSM) observer is presented. Two second‐order sliding mode observers with finite time convergence are developed for velocity estimation and uncertainty identification, respectively. The first SOSM observer is used to estimate the state vector in finite time without filtration. However, for uncertainty identi...

  5. Neural adaptive sliding mode speed tracking control of a DC motor

    Institute of Scientific and Technical Information of China (English)

    刘子龙; 刘国忠; 刘洁

    2004-01-01

    We propose a BPNN based adaptive sliding mode control scheme for speed tracking of a DC motor with unknown system nonlinearities. The input-output linearization technique is used to cancel the nonlinearities, and output of the BPNN is incorporated into the controller in the proposed scheme. It is shown that the rotor speed of a DC motor can follow any arbitrarily selected trajectories under variable load torque. Then the application of the approach is tested via some simulations.

  6. Tracking control of a class of non-linear systems with applications to cruise control of air-breathing hypersonic vehicles

    Science.gov (United States)

    Sun, Hongfei; Yang, Zhiling; Meng, Bin

    2015-05-01

    A new tracking-control method for general non-linear systems is proposed. A virtual controller and some command references are introduced to asymptotically stabilise the system of the tracking error dynamics. Then, the actual controller and command references are derived by solving a system of linear algebraic equations. Compared with other tracking-control methods in the literature, the tracking-controller design in this paper is simple because it needs only to solve a system of linear algebraic equations. The boundedness of the tracking controller and command references is guaranteed by the solvability of the terminal value problem (TVP) of an ordinary differential equation. For non-linear systems with minimum-phase properties, the TVP is automatically solvable. A numerical example shows that the tracking-control method is still available for some systems with non-minimum-phase properties. To enhance the robustness of the tracking controller, a non-linear disturbance observer (NDO) is introduced to estimate the disturbance. The combination of the tracking controller and the NDO is applied to the tracking control of an air-breathing hypersonic vehicle.

  7. Maximum Power Point Tracking and Reactive Power Control of Single Stage Grid Connected Photovoltaic System

    Directory of Open Access Journals (Sweden)

    Y. Hoseynpoor

    2011-12-01

    Full Text Available Single-stage grid-connected Photovoltaic (PV systems have advantages such as simple topology, high efficiency, etc. However, since all the control objectives such as the maximum power point tracking (with the utility voltage, and harmonics reduction for output current need to be considered simultaneously, the complexity of the control scheme is much increased. In this paper a new type of grid connected photovoltaic (PV system with Maximum Power Point Tracking (MPPT and reactive power simultaneous control system is presented. System has two controlling loops to obtain the maximum power from the PV array and also has reactive power control (RPC. In order to decrease the complexity, cost and the number of converters, a singlestage PV system is applied. Using RPC and MPPT controllers, reference current is calculated and the current with low THD (<5% is injected to grid through Adaptive Predictive Current Control (APCC and current Controlled Voltage Source Inverter (CCVSI. The operation of the system is classified in to two day and night modes. In day mode MPPT and RPC control is accomplished and in night mode RPC control is accomplished like STATCOM operation. Reactive power control is continuously performed correctly with appropriate speed in two inductive and capacitive modes in both day and night modes. Thus, System Utilization Factor (SUF increases to 100% which is just 20% for common PV systems. Mathematical modeling of the system and the results of simulations in MATLAB/SIMULINK software are presented to investigate the correctness of the results.

  8. Trajectory tracking in 2D under fuzzy controller with variable sampling

    Directory of Open Access Journals (Sweden)

    Ján Cigánek

    2015-12-01

    Full Text Available The paper deals with an effective approach of the robust controller design based on the fuzzy logic, and algorithms for variable sampling of trajectory points to improve the control performance of trajectory tracking. The proposed controller design and sampling algorithms are verified in the case study of the selected mechatronic system. All presented results are reached in co-simulation of two different modeling environments, Matlab-Simulink and MSC Adams. MSC Adams is used for the dynamics of the mechatronic system and Matlab-Simulink for the control part of the co-simulation, respectively.

  9. Research and Development of Engine-Generator Set Control System for Tracked Vehicle Electric Transmission System

    Institute of Scientific and Technical Information of China (English)

    HUANG Ying; HUANG Qian; SUN Feng-chun; LIU Bo-lan; LIU Jia

    2007-01-01

    As an energy generating equipment, the engine-generator set supplies power to the electric transmission. Therefore, its control is one of the key technologies of electric vehicles. Based on the discussion about the demands to the engine-generator set in tracked vehicles, the detailed function of engine-generator and the control strategy are determined. The hardware and software of the control system are also developed and tested in a prototype vehicle. The experiment results show that the control system has good reliability and can satisfy the power requirements of vehicles under all operating conditions.

  10. PD Iterative Self-learning Control for 3R Plane Robot Trajectory Tracking

    Directory of Open Access Journals (Sweden)

    Hongwei Gao

    2013-10-01

    Full Text Available In order to improve the speed and accuracy of the trajectory tracking control for 3R plane robot, a PD iterative self-learning control algorithm is proposed based on the PD iterative control algorithm. The error of target value and the actual value of this iteration is introduced into the PD learning gain to make the PD learning gain becomes a function of the error and to achieve the effect of self-learning. Simulation analysis of planar 3-link robot trajectory control shows that the proposed algorithm is better than unmodified in speed ability and accuracy.    

  11. A modeling and simulation of control system of satellite tracking platform an- tenna

    Institute of Scientific and Technical Information of China (English)

    LIU Xiaojun; GONG Lihong

    2012-01-01

    Based on the platform of mobile carrier satellite tracking has a wide range of applications. The paper adopts the advanced method of to step response identify, using the data obtained by the experiment model of high-speed acquisition, using the method of the least squares, finally the antenna control system model function was identified. Make use of integral separation algorithm, simu- link simulation and experiment analysis to set the control parameters of it. Stimulate the signal antenna control system under inter- fering. The experiment of the simulation experiment showed that the antenna control system model is stable with little error.

  12. An optimal consensus tracking control algorithm for autonomous underwater vehicles with disturbances

    CERN Document Server

    Zhang, Jian Yuan Wen-Xia

    2012-01-01

    The optimal disturbance rejection control problem is considered for consensus tracking systems affected by external persistent disturbances and noise. Optimal estimated values of system states are obtained by recursive filtering for the multiple autonomous underwater vehicles modeled to multi-agent systems with Kalman filter. Then the feedforward-feedback optimal control law is deduced by solving the Riccati equations and matrix equations. The existence and uniqueness condition of feedforward-feedback optimal control law is proposed and the optimal control law algorithm is carried out. Lastly, simulations show the result is effectiveness with respect to external persistent disturbances and noise.

  13. Optimal tracking and second order sliding power control of the DFIG wind turbine

    Science.gov (United States)

    Abdeddaim, S.; Betka, A.; Charrouf, O.

    2017-02-01

    In the present paper, an optimal operation of a grid-connected variable speed wind turbine equipped with a Doubly Fed Induction Generator (DFIG) is presented. The proposed cascaded nonlinear controller is designed to perform two main objectives. In the outer loop, a maximum power point tracking (MPPT) algorithm based on fuzzy logic theory is designed to permanently extract the optimal aerodynamic energy, whereas in the inner loop, a second order sliding mode control (2-SM) is applied to achieve smooth regulation of both stator active and reactive powers quantities. The obtained simulation results show a permanent track of the MPP point regardless of the turbine power-speed slope moreover the proposed sliding mode control strategy presents attractive features such as chattering-free, compared to the conventional first order sliding technique (1-SM).

  14. Observer-Based Robust Tracking Control for a Class of Switched Nonlinear Cascade Systems

    Directory of Open Access Journals (Sweden)

    Ben Niu

    2013-01-01

    Full Text Available This paper is devoted to robust output feedback tracking control design for a class of switched nonlinear cascade systems. The main goal is to ensure the global input-to-state stable (ISS property of the tracking error nonlinear dynamics with respect to the unknown structural system uncertainties and external disturbances. First, a nonlinear observer is constructed through state transformation to reconstruct the unavailable states, where only one parameter should be determined. Then, by virtue of the nonlinear sliding mode control (SMC, a discontinuous nonlinear output feedback controller is designed using a backstepping like design procedure to ensure the ISS property. Finally, an example is provided to show the effectiveness of the proposed approach.

  15. Observed-Based Adaptive Fuzzy Tracking Control for Switched Nonlinear Systems With Dead-Zone.

    Science.gov (United States)

    Tong, Shaocheng; Sui, Shuai; Li, Yongming

    2015-12-01

    In this paper, the problem of adaptive fuzzy output-feedback control is investigated for a class of uncertain switched nonlinear systems in strict-feedback form. The considered switched systems contain unknown nonlinearities, dead-zone, and immeasurable states. Fuzzy logic systems are utilized to approximate the unknown nonlinear functions, a switched fuzzy state observer is designed and thus the immeasurable states are obtained by it. By applying the adaptive backstepping design principle and the average dwell time method, an adaptive fuzzy output-feedback tracking control approach is developed. It is proved that the proposed control approach can guarantee that all the variables in the closed-loop system are bounded under a class of switching signals with average dwell time, and also that the system output can track a given reference signal as closely as possible. The simulation results are given to check the effectiveness of the proposed approach.

  16. Path Planning and Tracking for Vehicle Parallel Parking Based on Preview BP Neural Network PID Controller

    Institute of Scientific and Technical Information of China (English)

    季学武; 王健; 赵又群; 刘亚辉; 臧利国; 李波

    2015-01-01

    In order to diminish the impacts of external disturbance such as parking speed fluctuation and model un-certainty existing in steering kinematics, this paper presents a parallel path tracking method for vehicle based on pre-view back propagation (BP) neural network PID controller. The forward BP neural network can adjust the parameters of PID controller in real time. The preview time is optimized by considering path curvature, change in curvature and road boundaries. A fuzzy controller considering barriers and different road conditions is built to select the starting po-sition. In addition, a kind of path planning technology satisfying the requirement of obstacle avoidance is introduced. In order to solve the problem of discontinuous curvature, cubic B spline curve is used for curve fitting. The simulation results and real vehicle tests validate the effectiveness of the proposed path planning and tracking methods.

  17. Cooperative tracking control of nonlinear multiagent systems using self-structuring neural networks.

    Science.gov (United States)

    Chen, Gang; Song, Yong-Duan

    2014-08-01

    This paper considers a cooperative tracking problem for a group of nonlinear multiagent systems under a directed graph that characterizes the interaction between the leader and the followers. All the networked systems can have different dynamics and all the dynamics are unknown. A neural network (NN) with flexible structure is used to approximate the unknown dynamics at each node. Considering that the leader is a neighbor of only a subset of the followers and the followers have only local interactions, we introduce a cooperative dynamic observer at each node to overcome the deficiency of the traditional tracking control strategies. An observer-based cooperative controller design framework is proposed with the aid of graph tools, Lyapunov-based design method, self-structuring NN, and separation principle. It is proved that each agent can follow the active leader only if the communication graph contains a spanning tree. Simulation results on networked robots are provided to show the effectiveness of the proposed control algorithms.

  18. A controllable resistor and its applications in pole-zero tracking frequency compensation methods for LDOs

    Energy Technology Data Exchange (ETDEWEB)

    Wang Yi; He Lenian; Ning Zhihua; Shao Yali, E-mail: wangyi@vlsi.zju.edu.c [Institute of VLSI Design, Zhejiang University, Hangzhou 310027 (China)

    2009-09-15

    This paper presents a controllable resistor, which is formed by a MOS-resistor working in the deep triangle region and an auxiliary circuit. The auxiliary circuit can generate the gate-source voltage which is proportional to the output current of an low dropout regulator for the MOS-resistor. Thus, the equivalent output resistance of the MOS-resistor is inversely proportional to the output current, which is a suitable feature for pole-zero tracking frequency compensation methods. By switching the type of the MOS-resistor and current direction through the auxiliary circuit, the controllable resistor can be suitable for different applications. Three pole-zero tracking frequency compensation methods based on a single Miller capacitor with nulling resistor, unit-gain compensation cell and pseudo-ESR (equivalent serial resistor of load capacitor) power stage have been realized by this controllable resistor. Their advantages and limitations are discussed and verified by simulation results.

  19. Co op erative Tracking Control for Networked Lagrange Systems:Algorithms and Exp eriments

    Institute of Scientific and Technical Information of China (English)

    CHEN Gang; YUE Yuan-Long; LIN Qing

    2014-01-01

    This paper considers the coordinated tracking problem for a group of Lagrange systems in the presence of parametric uncertainties. Distributed adaptive controllers are proposed with the aid of Lyapunov techniques. Compared with the previous work in the context of networked Lagrange systems control, the results in this paper are suitable for the general digraph communication topologies. Under the condition that the desired trajectory is only available to a portion of Lagrange systems, we discuss the cooperative tracking problem with general digraph communication topology, which contains a spanning tree with the root node being the active target system. Under the case where the neighbor0s velocity is unavailable, a distributed filter is introduced to overcome this deficiency. Experimental results on networked robot-arms are provided to show the effectiveness of the proposed control algorithms.

  20. Longitudinal Acceleration Tracking Control of Low Speed Heavy-Duty Vehicles

    Institute of Scientific and Technical Information of China (English)

    WANG Yuejian; BIN Yang; LI Keqiang

    2008-01-01

    This paper presents a model matching control (MMC) method based on the sliding mode control(SMC) method for longitudinal acceleration tracking control in a vehicular stop-and-go cruise control system.The nonlinearity of the vehicle acceleration response at low speeds was analyzed to develop a transfer function model of the vehicle longitudinal dynamics using the least-mean-square system identification technique.This transfer function was then used to design the MMC controller,including an SMC feedback compensator.The system combines the advantages of the two control methods with robust control and rapid response.Simulations show that the controller enhances the rapid trackability to the vehicle acceleration and improves the system's robustness at low speeds compared with conventional PID MMC controllers.