Real Time Implementation of non Linear Observer-Based Fuzzy Sliding Mode Controller for a twin rotor multi-input multi-output system (TRMS)

This paper proposes a new method to tune a fractional-order Proportional–Integral–Derivative controller (also called \(\mathrm {P}\mathrm {I}^{\uplambda }\mathrm {D}^{\upmu }\) ) for a Twin Rotor Aerodynamic System, which is a nonlinear highly coupled Multi-Input–Multi-Output system. The five parameters of the controller are tuned using optimization to minimize a performance index which is a weighted sum of absolute values of four frequency domain specifications: gain crossover frequency, phase margin, ISO damping property (to be robust against process gain variation), and magnitude peak value at the resonant frequency, where the latter is the new control design specification that is suggested by this paper. The performance of the proposed controller is compared with that of an integer-order Proportional–Integral–Derivative (PID) controller. Simulation results shows that the fractional-order controller outperforms its integer-order counterpart in minimizing the performance index, which results in satisfying the required design specification more accurately. This is demonstrated by first testing the performance of the of the closed-loop system where the fractional-order controller gives better performance than the integer-order controller and second by testing the robustness of the system by changing one of the process parameters, where the fractional-order controller is much more robust, unlike the integer-order controller where the closed-loop system becomes unstable.

A New Method to Tune a Fractional-Order PID Controller for a Twin Rotor Aerodynamic System

On The Modeling of Twin Rotor MIMO System Using Chirp Inputs as Test Signals

The task of complete reconfiguration of a rolling sphere is recast as a problem in planar geometry. Based on our specific choice of coordinate system, two control points are defined that equivalently represent the configuration of the sphere. Under the applied control inputs, the trajectories of these control points are shown to form an evolute-involute pair. The objective of complete reconfiguration is then captured within integral conditions over the path of the control points. A class of solution to the geometric problem is derived and a three step algorithm for complete reconfiguration is proposed. The solution is computationally in-expensive and is confirmed by simulation results.Copyright © 2004 by ASME

Reconfiguration of a Rolling Sphere: A Problem in Evolute-Involute Geometry

Nonlinear Cascade-Based Control for a Twin Rotor MIMO System

Mechanofluorochromic (MFC) materials are a class of luminescent materials that have ability to show changes in their emission when subjected to various mechanical stimuli. A wide range of MFC materials...

Mechanochromic luminogens with hypsochromically shifted emission switching property: Recent advances and perspectives

Terminal Sliding Mode Control of a Twin Rotor Multiple-Input Multiple-Output System

Finite-Time Control of a Quadrotor System

Pyridine-based derivatives Py-1, Py-2, and Py-3 were synthesized by the Suzuki cross-coupling reaction, and the effect of different substituents at the ortho position of the pyridine ring was investigated. In the molecular framework of push–pull compounds, electron acceptor (A) pyridine was substituted with an electron donor (D) dimethoxy triphenylamine unit. The effect of passing from a dipolar (D-A, Py-1) to a quadrupolar (D-A-D, Py-3) structure as well as the impact of functionalizing the pyridine with a bromine in the dipolar structure (D-A-Br, Py-2) was investigated. All the pyridine derivatives were found to be highly emissive both in solution and in the solid state, with fluorescence properties markedly sensitive to the environment and responsive to external stimuli. The spectral and photophysical properties in solution were investigated through conventional steady-state and advanced time-resolved spectroscopies with nanosecond and femtosecond temporal resolution. The expected efficient intersystem crossing for the heavy-atom-containing molecule was surprisingly not highlighted by our experiments, but an increased push–pull character was enabled by functionalizing the pyridine acceptor with the bromine. The ultrafast spectroscopic study revealed a peculiar excited state deactivation mechanism for the Br derivative among the others, involving photoinduced intramolecular charge transfer accompanied by twisting of the molecular structure (population of a TICT excited state). Similarly, a significant color change in the solid-state emission was observed for Py-2 upon mechanical grinding, suggesting a mechanochromic luminescence behavior in this case. Our findings suggest introducing heavy atoms in organic fluorophores as a new design strategy to obtain mechanoluminescent materials. 

Enabling Peculiar Photophysics and Mechanochromic Luminescence by Introducing Bromine in Push–Pull Pyridine Derivatives

In this paper we present a geometric control law for position and line-of-sight stabilization of the nonholonomic spherical robot actuated by three independent actuators A simple configuration error function with an appropriately defined transport map is proposed to extract feedforward and proportional-derivative control law Simulations are provided to validate the controller performance

Anup K. Ekbote

Papers

Mechanochromic luminogens with hypsochromically shifted emission switching property: Recent advances and perspectives

Terminal Sliding Mode Control of a Twin Rotor Multiple-Input Multiple-Output System

Finite-Time Control of a Quadrotor System

Enabling Peculiar Photophysics and Mechanochromic Luminescence by Introducing Bromine in Push–Pull Pyridine Derivatives

Position and line-of-sight stabilization of spherical robot using feedforward proportional-derivative geometric controller