NDLI: A practical approach to motion control for planar multi-rigid-body systems

Content Provider	IEEE Xplore Digital Library
Author	Rongqi Shi Jie Peng
Copyright Year	2014
Description	Author affiliation: Dept. of Eng. Mech., Tsinghua Univ., Beijing, China (Rongqi Shi; Jie Peng)
Abstract	This research is focused on developing a practical motion control approach, which can greatly simplify the control-oriented modeling and improve the control performance. For any dynamical system which meets the requirements, all necessary dynamics information is deduced in a general form as two matrices, which skillfully avoids the complicated modeling of multi-rigid-body dynamics. The other information, such as un-modeled dynamics and uncertain disturbances, is treated as a generalized total disturbance, estimated by an extended state observer and compensated by a simple controller. A standardizing controller is designed to convert any dynamical system into a standardized model so that the extended state observer can be constructed in a general form. The approach is applied to the control system design of an in-plane morphing wing and morphing aircraft in pitch plane, and multidisciplinary joint simulations are performed. The proposed approach is validated with the following advantages: simplicity and effectiveness in control-oriented dynamical modeling and controller tuning; universality for a certain class of planar multi-rigid-body systems; practicality for engineers and interdisciplinary researchers of mechanics and control.
Starting Page	834
Ending Page	839
File Size	5052919
Page Count	6
File Format	PDF
ISBN	9781479937073
e-ISBN	9781479937080
DOI	10.1109/CCDC.2014.6852280
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Decision support systems Transmission line matrix methods Pseudo-Inverse Atmospheric modeling Computational modeling Motion Control Multi-Rigid-Body System Observers Lagrange Equation Extended State Observer Mathematical model Motion control
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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