http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Three-Axis Magnetic Attitude Control Algorithms for Small Satellites in the Presence of Noise
Jaime Rubio Hervas,Mahmut Reyhanoglu,Sergey V. Drakunov 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper studies the three-axis attitude stabilization problem for a nadir-pointing spacecraft using only magnetic torquers as actuators. Since magnetic control systems are relatively lightweight, require low power and are inexpensive, they are attractive for small, inexpensive satellites in low Earth orbits. In this paper we present three-axis attitude control algorithms for small satellites using only magnetic torquers in the presence of noise and investigate their performance through simulations. These algorithms combine ideas from averaging and linear quadratic regulation as well as sliding mode design. Computer simulations are included to illustrate the effectiveness of the proposed control laws.
Thrust-Vector Control of a Three-Axis Stabilized Spacecraft with Fuel Slosh Dynamics
Jaime Rubio Hervas,Mahmut Reyhanoglu,Hui Tang 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
The thrust vector control problem is studied for an upper-stage rocket with fuel slosh dynamics. The sloshing propellant is modeled as a multi-mass-spring system. The coupled equations of motion of the spacecraft and the fuel are expressed in terms of the three dimensional spacecraft translational velocity vector, the attitude, the angular velocity, and the internal coordinates representing the slosh modes. A Lyapunov-based nonlinear feedback control law is proposed to control the translational velocity vector and the attitude of the spacecraft, while attenuating the sloshing modes. A simulation example is included to illustrate the effectiveness of the control law.
On the Nonlinear Modeling of Systems with Higher-Order Nonholonomic Constraints
Jaime Rubio Hervas,Mahmut Reyhanoglu 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper studies the nonlinear modeling problem for systems with higher-order nonholonomic constraints using tools from theoretical mechanics. A general control systems approach is developed for such systems. The applicability of the theoretical development is illustrated through a point mass moving on a constant-torsion space curve.
Control and Stabilization of a Third-Order Nonholonomic System
Jaime Rubio Hervas,Mahmut Reyhanoglu 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
We study the control of a simplified model of a PPR robot manipulator subject to a third-order nonholonomicconstraint. The model consists of a base body, which can translate and rotate freely in the plane, and a massless arm at the tip of which the end-effector is attached. It is assumed that two forces and a torque applied to the manipulator are available as control inputs. The objective is to control the robot end-effector movement while keeping the transverse jerk component is zero. The main result of the paper is the construction of a feedback control algorithm that transfers the manipulator from any initial equilibrium configuration to the zero equilibrium configuration in finite time. The effectiveness of the algorithm is illustrated through a simulation example.
Control of a Spacecraft with Time-Varying Propellant Slosh Parameters
Jaime Rubio Hervas,Mahmut Reyhanoglu 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper studies the thrust vector control problem for an upper-stage rocket with fuel slosh dynamics. The control inputs are the gimbal deflection angle of a main engine and a pitching moment about the center of mass of the spacecraft. It is assumed that the rocket acceleration due to the main engine thrust is large enough so that surface tension forces do not significantly affect the propellant motion during main engine burns. The prominent sloshing modes are represented by a multi-mass-spring model with time-varying parameters. A time-varying nonlinear feedback controller is designed to control the translational velocity vector and the attitude of the spacecraft, while suppressing the sloshing modes. A simulation example is included to illustrate the effectiveness of the controller.
Observer-Based Nonlinear Control of Slosh in Liquid Container Transfer via a PPR Robot
Jaime Rubio Hervas,Mahmut Reyhanoglu 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper studies the problem of observer-based control of slosh in liquid container transfer via a PPR robot. The control inputs for the PPR robot are two forces and a torque applied to the prismatic joints and the revolute joint, respectively. The control objective is point-to-point transfer of an open liquid container while suppressing the sloshing modes. A full-state feedback that uses a reduced-order observer for the estimation of the slosh state is proposed to achieve the objective. The effectiveness of the proposed observer-based control law is illustrated through a computer simulation.
Nonlinear Control of Thermoacoustic Oscillations in Rijke-Type Systems
William MacKunis,Mahmut Reyhanoglu,Krishna Bhavithavya Kidambi,Jaime Rubio Hervas 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This paper presents a robust and adaptive nonlinear controller to asymptotically regulate thermoacoustic oscillations in a Rijke-type system in the presence of dynamic model uncertainty and unknown disturbances. A mathematical model that includes unmodelled nonlinearities and parametric uncertainty is first introduced. A robust and adaptive nonlinear control law is then developed to compensate for the parametric uncertainty and unmodelled nonlinearities. Results of Monte Carlo-type simulations are included to demonstrate the effectiveness of the control law.
Passivity-Based Quaternion Feedback Control of a Hover System
Remon Damen,Mahmut Reyhanoglu,William MacKunis,Jaime Rubio Hervas 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
A passivity-based quaternion feedback control strategy is presented for a hover system (quadrotor UAV test bed), which achieves asymptotic attitude regulation. The proposed control design incorporates the input voltage constraints inherent in practical UAV systems. A rigorous Lyapunov-based analysis is provided to prove asymptotic regulation of the hover system attitude to a desired set point. Computer simulation results are also provided, which demonstrate the capability of the control law to achieve asymptotic attitude regulation when applied to the completenonlinear system dynamics.