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Successive Loop Closure Based Controller Design for an Autonomous Quadrotor Vehicle
Singh, Ansu Man,Lee, Deok Jin,Hong, Dong Pyo,Chong, Kil To Trans Tech Publications, Ltd. 2013 Applied Mechanics and Materials Vol. No.
<P>In this paper, a new systematic approach for designing a self-tuning controller for an autonomous quadrotor robot is introduced.In order to design the self-tuning controller, first, a linearized dynamic model of a quadrotor about hovering positions is derived, and thenthe successive loop closure approach is applied to design the self-tuning PID controller of the attitude, altitude and velocity for the autonomous flying capability of the flying robot. In addition, nonlinearities of the design model are also imposed in the control loop by takinginto account the saturation of actuators. For the verification of the effectiveness of the proposed controller, various simulation studiesare carried out in terms of the accuracy and robustness.</P>
Singh, Man,Padmaja, G. Vani Korean Chemical Society 2010 Bulletin of the Korean Chemical Society Vol.31 No.7
By reducing PVP with $H_2NOH$.HCl and NaOH 2:2:1 mass ratios in aqueous ethanol, poly-N-vinyl pyrrolidone oxime [PVPO] was prepared with 92% yield. Applying the sol-gel concept, orthosilicic acid [OSA] was made by hydrolyzing TEOS with ethanol in 1:0.5 molar ratios using 1 N KOH aqueous solution as a catalyst. The OSA + PVPO + $_L$-Valine ($\alpha$-amino acid) were mixed with pure ethanolic medium in 1:2:2 mass ratios and refluxed at $78^{\circ}C$ and 6 pH for 6.5 h. A white residue of poly-N-vinyl pyrrolidone oximo-L-valyl-siliconate [POVS] appeared after 5 h. The heating of reaction mixture was stopped and the contents were brought to NTP. The residue formation of POVS was intensified with lowering a temperature and completely solidified within 5 h, was filtered using a vacuum pump with Whatmann filter paper no. 42. The residue of POVS was washed several times with 20% aqueous cold ethanolic solution and dried in vacuum chamber at $25^{\circ}C$ for 24 h. The MP was noted above $350^{\circ}C$. Structural and internal morphology were analyzed with IR and $^1H$-NMR, and SEM respectively. A drug loading and transporting ability of the POVS in water and at pH = 5 and 8 was determined chromatographically.
Man Singh,G. Vani Padmaja 대한화학회 2010 Bulletin of the Korean Chemical Society Vol.31 No.7
By reducing PVP with H2NOH.HCl and NaOH 2:2:1 mass ratios in aqueous ethanol, poly-N-vinyl pyrrolidone oxime [PVPO] was prepared with 92% yield. Applying the sol-gel concept, orthosilicic acid [OSA] was made by hydrolyzing TEOS with ethanol in 1:0.5 molar ratios using 1 N KOH aqueous solution as a catalyst. The OSA + PVPO + L-Valine (α-amino acid) were mixed with pure ethanolic medium in 1:2:2 mass ratios and refluxed at 78 oC and 6 pH for 6.5 h. A white residue of poly-N-vinyl pyrrolidone oximo-L-valyl-siliconate [POVS] appeared after 5 h. The heating of reaction mixture was stopped and the contents were brought to NTP. The residue formation of POVS was intensified with lowering a temperature and completely solidified within 5 h, was filtered using a vacuum pump with Whatmann filter paper no. 42. The residue of POVS was washed several times with 20% aqueous cold ethanolic solution and dried in vacuum chamber at 25 oC for 24 h. The MP was noted above 350 oC. Structural and internal morphology were analyzed with IR and 1H-NMR, and SEM respectively. A drug loading and transporting ability of the POVS in water and at pH = 5 and 8 was determined chromatographically.
Ananta Man Singh Pradhan,김윤태 대한토목학회 2021 KSCE JOURNAL OF CIVIL ENGINEERING Vol.25 No.6
Soil thickness is a major parameter to better understand slope stability, surface erosion, groundwater storage, and vegetation growth. In this study, the main focus is the development and application of a relative relief (RR)-based spatial soil thickness model. Intensive field works were also carried out to gather ground-truthing soil thickness data using traditional drilling and excavation methods. The spatial distribution of soil thickness obtained from the RR model was validated with the results of the field measurements, and compared with the predictions derived from S and multiple linear regression (MLR) models, which are already known in the literature. In this study, we tested how raster resolutions (5, 10, 20, 30, 50, 60 and 90 m) influence the spatial prediction of soil thickness. Based on the comparison between the predicted soil thickness and the measured soil thickness, a map of 10 m resolution contributed reasonable delineation of soil thickness over the study area. A comparison of the predicted results was performed using the agreement coefficient (AC) which showed that the RR model has a better predictive ability (AC = 0.970) than the S (AC = 0.945) and MLR (AC = 0.710) soil thickness models. The results indicate that an adjustment to the soil thickness and spatial resolution can significantly improve the modelling efficiency.
Fast Terminal Sliding Control Application for Second-order Underactuated Systems
Ansu Man Singh,하쾅 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.8
In this paper, we propose a robust and finite-time control method, based on the terminal sliding mode (TSM), for a class of two-degree-of-freedom (2-DOF) underactuated electromechanical systems subject to bounded uncertainties and disturbances. First, the proposed Fast Terminal Sliding Mode (FTSM) method is presented. Then for the underactuated system control, hierarchical sliding surfaces are defined, consisting of two layers. In the first layer, separate FTSM sliding functions are selected for each state of the system. In the second layer, the system sliding manifold is a linear combination of the first layer sliding surfaces. A control law is derived and stability conditions of the nonlinear system are obtained by using the Lyapunov theory. To verify the effectiveness of our proposed method, the developed control technique is applied to control both the swinging load and the cart position of an underactuated gantry crane. Extensive simulation and real-time experiments demonstrate enhanced performance of the system and robustness against parametric variations in comparison to conventional TSM and sliding mode control.