Mathematical Methods of Optimal Control

Two wheeled mobile robots are fully autonomous and self-balancing vehicles. As these systems are nonlinear and open-loop unstable, various and complex control algorithms are needed to guarantee the dynamic system stability. One requirement for the development of a suitable controller is the availability of a reliable mathematical model. This paper treats the mathematical modeling of Two-wheeled Unstable Transporter (UnTrans). The mathematical model of UnTrans is identified using the input/output collected data after a real-time experiment and Grey Wolf Optimizer algorithm.

Models of Two-Wheeled Mobile Robots with Experimental Validation

This paper presents the Grafpol TM method and principles of synthesising sequential control algorithms by this method, as well as examples of applying this method for modelling processes and programming PLC controllers.

/pdf/analytic-method-grafpol-tm-of-synthesing-sequential-control-1wrp4oljkz.pdf

Analytic Method Grafpol TM of Synthesing Sequential Control Systems

The performance of the locomotion of a mobile robot on the ground can be improved by adapting the shape or construction of the wheels to different needs, from climbing stairs in a building to climbing an obstacle or an inclined terrain. Thus, various combinations between wheels, crawlers, and legs can be achieved, where each combination solves the problem in a specific way. In this study, we designed a mechanism that can augment an ordinary wheel, by adding retractable “claws”, like the claws of a cat. In our study, the actuation of the “claws” is done using a servomotor, at which point the robot is stopped from moving, to open the “claws”, then these can remain open while the robot moves in the chosen environment. The design of the “claws” can be adapted to various needs, from climbing stairs to climbing obstacles or moving on soft or slippery terrain.

Augmented Vehicle Wheels „Cat Claws” Inspired

ADCS test stands are used for on-the-ground testing of satellite altitude determination and control systems. Their main purpose is to simulate time-vaying conditions similar to those found in outer space on a geocentric orbit. The paper presents the main component of the ADCS test stand – a Helmholtz cage used to simulate the orbital magnetic field. The design and integration of mechanical, electrical, electronic and software components that led to a highly uniform and precisely controlled magnetic field is described here. The validation process, including 3D scanning of the magnetic field, is presented. Remarks on the employed technology, limitations of the proposed solution, some design recommendations, and plans for future work are provided.

Design of an ADCS test stand for nanosatellites

Autonomous, reconfigurable mobile vehicle with rapid control prototyping functionality

The time-optimal trajectories are very sensitive to disturbances. The use of optimal strategy in real-time inevitably results in a departure from the optimal path. A return to the trajectory is no longer possible. When the time-optimal is replaced to the fix horizon problem then the real system moves from the optimal to nearing trajectories. Moreover, a further desensitization is possible by a proper shifting. The nearing desensitized trajectories are robust to disturbances at the cost of a slight increase in the control time.

http://ieeexplore.ieee.org/iel7/7568600/7575076/07575220.pdf

Desensitization of the time-optimal trajectories

This paper analyses the behaviour of industrial network PROFINET for time determinism during the transfer of controls and measurements in real time. The subject of interest is the performance of the network control system. An experimentation platform is described. An analysis of jitter in sampling period is provided. Test results demonstrating advantages of communication using PROFINET standard are presented.

/pdf/analysis-of-industrial-profinet-in-the-task-of-controlling-a-3f8000sxu5.pdf

Analysis of Industrial PROFINET in the Task of Controlling a Dynamic System

A pendulum on a cart system is often regarded as benchmark for control algorithms. In the paper such feature of the inverted pendulum is used to verify complex control system. Design and implementation of a networked control system containing a PLC and a servo driver is described. A control algorithm for inverted pendulum is shown and experiments results are presented. The findings may be used in a networked control system verification.

/pdf/the-real-time-network-control-of-the-inverted-pendulum-50l2otdpy3.pdf

Dawid Knapik

Papers

Autonomous, reconfigurable mobile vehicle with rapid control prototyping functionality

Desensitization of the time-optimal trajectories

Analysis of Industrial PROFINET in the Task of Controlling a Dynamic System

Design of an ADCS test stand for nanosatellites

The Real-Time Network Control of the Inverted Pendulum System Based on Siemens Hardware