Sparse in the Time Stabilization of a Bicycle Robot Model: Strategies for Event- and Self-Triggered Control Approaches

Abstract

In this paper, the problems of event- and self-triggered control are studied for a nonlinear bicycle robot model. It has been shown that by applying control techniques based on triggering conditions, it is possible to reduce both state-based performance index, as well as the number of triggers, in comparison to a standard linear-quadratic control which consumes less energy of the control system and decreases the potential mechanical wear of the robot parts. The results presented in this paper open a new research field for further studies, as discussed in the Summary section, and form the basis for further research in energy-efficient control techniques for stabilizing a bicycle robot.

Real-Time Model-Free Minimum-Seeking Autotuning Method for Unmanned Aerial Vehicle Controllers Based on Fibonacci-Search Algorithm

“…In order to obtain a range for the considered parameters, the following approaches might be adopted: (1) obtain a nominal model of the UAV, e.g., for altitude changes only, as one of [51], include uncertainty information, see [52,53,54,55], and perform stability analysis of the uncertain system, yielding estimates of safe ranges, stabilising the closed-loop system, (2) for a simulation-developed model of the UAV, as used in the paper in ROS-Gazebo environment, obtained, e.g., by designing a model of the UAV in such software as Autodesk Inventor Professional 2015 (Dyson, 9.0.23.0, Autodesk, San Rafael, CA, USA), perform a series of simulations to observe the behaviour of the model in a simulation environment, as in [56], (3) obtain a linearized model of the UAV for the expected motion, assume possible disturbances, such as wind gusts, as bounded, an obtain stability analysis as in [57] considering ranges for controller parameters, (4) heuristic approach: set the ranges close to the nominal parameters of the controller, which proved to stabilise the UAV in real-world experiments. …”

“…for a simulation-developed model of the UAV, as used in the paper in ROS-Gazebo environment, obtained, e.g., by designing a model of the UAV in such software as Autodesk Inventor Professional 2015 (Dyson, 9.0.23.0, Autodesk, San Rafael, CA, USA), perform a series of simulations to observe the behaviour of the model in a simulation environment, as in [56],…”

The Middleware for an Exoskeleton Assisting Upper Limb Movement

“…The control system can be built in a centralized or distributed form [36,40]. In exoskeletons, a centralized system requires running multiple control and power cables through movable joints, increasing the likelihood of failure.…”

Improving the quality of network management of technological processes

“…Преимущество таких датчиков состоит в том, что они хорошо адаптируются с современными микроконтроллерами, а также позволяют использовать для передачи данных цифровые сети. Такие каналы передачи данных имеют важные особенности: случайные задержки и очереди [3][4][5][6][7][8][9][10][11][12][13][14][15][16]. Эти каналы получили название -сетевые каналы, а системы -сетевые системы управления (Networked Control System, NCS) [17][18][19][20].…”