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17th IFAC Symposium on Automatic Control in Aerospace (2007)
Automatic Control in Aerospace, Volume# 17 | Part# 1
Location: ICT, Universitas Studii Tolosana, France
National Organizing Committee Chair: Imbert, Nicole;
Alazard, Daniel
International Program Committee Chair: Siguerdidjane, Houria;
Mauffrey, Sophie
Conference Editor: Siguerdidjane, Houria
ISBN: 978-3-902661-24-1
Start Date: 2007-06-25
End Date: 2007-06-29
| Paper Title | Authors | Updated | |
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| Control of a flexible robot with fuzzy logic and a noncollocated sensor location | Green, A.; Sasiadek, J. Z. | 2007-06-25 |
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Authors: Green, A.; Sasiadek, J. Z.
Abstract: Nonadaptive and fuzzy logis system adaptive control (FLSAC) strategies are used to track the end effector of a flexible space robot with sensors collocated at the joints, noncollocated at the end effector and at 0.5m from the elbow joint. Collocated joint sensors satisfy hyperstability conditions but fail to capture nonminimum phase (NMP) response that causes control action delay. Noncollocated sensors capture NMP response. Results are poor for nonadaptive control with collocated and noncollocated sensors but precise control is achieved for FLSAC regardless of sensor location.
Keywords: flexible space robot,sensor location,fuzzy logic,adaptive control
Digital Object Identifier (DOI): 10.3182/20070625-5-FR-2916.00149
Conference: 17th IFAC Symposium on Automatic Control in Aerospace (2007)
Location: ICT, Universitas Studii Tolosana, France
Start Date: Mon Jun 25 2007 - End Date: Fri Jun 29 2007
Page Numbers: 877-882
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| Planetary rover mobility: Wheel-soil interaction based on multibody system approach | Schafer, Bernd; Gibbesch, Andreas | 2007-06-25 |
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Authors: Schafer, Bernd; Gibbesch, Andreas
Abstract: The importance and strenghts of Multibody System (MBS) simulation allows uniquely to investigate a wide range of potential rover configurations and mobility performance on various terrains. Moreover, the importance of the dynamical effects, primarily the suspension mechanisms, can be efficiently taken into account. The main goal of MBS simulation is to reliably predict mobility performance, to reduce the amount of costly prototypes, and to give assistance in field experiments. A great advantage is the integration of the MBS simulation and the very complex tyre-soil interaction into the vehicle's conceptual design process. This ranges from kinematic investigations for gradeability, maximum step crossing and side slope driving towards the investigations of tyre-soil interaction with respect to tyre sinkage and rolling resistance. In this paper the focus lies on the simulation of wheel forces and applied torques, and on longitudinal slip of tyres on hard and soft soil for MER and RCL-E type rovers.
Keywords: terramechanics,soft soil,tyre-soil interaction,multibody system simulation,planetary rover,multipass effect,rheological soil model
Digital Object Identifier (DOI): 10.3182/20070625-5-FR-2916.00150
Conference: 17th IFAC Symposium on Automatic Control in Aerospace (2007)
Location: ICT, Universitas Studii Tolosana, France
Start Date: Mon Jun 25 2007 - End Date: Fri Jun 29 2007
Page Numbers: 883-888
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| Design and implimentation of an adaptive PI controller for a two axis gimbal system | Golmohammad, Hassan; Homaei, Ali; Saadat, Soheil | 2007-06-25 |
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Authors: Golmohammad, Hassan; Homaei, Ali; Saadat, Soheil
Abstract: Stabilization problem of a 2-axes yaw-pitch gimbal is studied for camera stabilization. In order to mechanical design of the system considered in this work, gain scheduling approach is adopted to control camera and reduce disturbances. The gimbal model is identified in close loop manner by PEM algorithm. Throughout the paper, experimental results manifest the truth of theoretical declarations. Ultimately, satisfactory performance is gained with the proposed design.
Keywords: yaw-pitch gimbal,stabilization,closed loop identification,adaptive PI controller
Digital Object Identifier (DOI): 10.3182/20070625-5-FR-2916.00151
Conference: 17th IFAC Symposium on Automatic Control in Aerospace (2007)
Location: ICT, Universitas Studii Tolosana, France
Start Date: Mon Jun 25 2007 - End Date: Fri Jun 29 2007
Page Numbers: 889-894
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