Relevant bibliographies by topics / Orientation and stabilization subsystem

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Orientation and stabilization subsystem'

Author: Grafiati
Published: 30 May 2022
Last updated: 31 May 2022

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Journal articles on the topic "Orientation and stabilization subsystem"

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Peresada, S., S. Bozhko, S. Kovbasa, and Ye Nikonenko. "ROBUST DIRECT FIELD ORIENTED CONTROL OF INDUCTION GENERATOR." Tekhnichna Elektrodynamika 2021, no. 4 (2021): 14–24. http://dx.doi.org/10.15407/techned2021.04.014.

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A novel and robust field oriented vector control method for standalone induction generators (IG) is presented. The proposed controller exploits the concept of direct field orientation and provides asymptotic rotor flux modulus and DC-link voltage regulations when a DC-load is constant or slowly varying. Flux subsystem, designed using Lyapunov’s second method, has, in contrast to standard structures, closed loop properties and therefore is robust with respect to rotor resistance variations. A decomposition approach on the base of the two-time scale separation of the voltage and torque current dynamics is used for design of the voltage subsystem. The feedback linearizing voltage controller is designed using a steady state IG power balance equation. The resulting quasi-linear dynamics of the voltage control loop allows use of simple controllers tuning procedure and provides an improved dynamic performance for variable speed and flux operation. Results of a comparative experimental study with standard indirect field oriented control are presented. In contrast to existing solutions, the designed controller provides system performances stabilization when speed and flux are varying. It is experimentally shown that a robust field oriented controller ensures robust flux regulation and robust stabilization of the torque current dynamics leading to improved energy efficiency of the electromechanical conversion process. The proposed controller is suitable for energy generation systems with variable speed operation. References 18, figures 8.
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Kuseyri, Sina. "Modelling and stabilization of a three-axis ship-mounted mobile antenna system." Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment 231, no. 2 (2016): 533–41. http://dx.doi.org/10.1177/1475090216661908.

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A mobile satellite communication antenna is a device installed on a moving carrier for mobile satellite communication. Gimballed motorized pedestals are used to eliminate the effect of disturbance and maintain uninterrupted communication when the carrier is moving. Mobile satellite communication antennas are becoming increasingly more popular due many advantages of mobile satellite communication. In this paper, a three-axis ship-mounted antenna on a pedestal gimbal system is studied. We study the problem with a different perspective and method from the previous work for two-axis antenna pedestals. The former studies treat the subsystems to be isolated and design controllers separately, which neglect the coupling effects in the dynamics of two or three-axis antenna pedestal gimbals. We treat three sub-systems as a whole and derive the dynamic model of the system using the Newton–Euler method. Based on the dynamic model, linear PI controllers are designed to stabilize the antenna to keep its orientation towards the satellite. The design objective of the control system is to direct the on-board antenna toward a satellite and to keep its orientation unaltered despite the effect of sea waves disturbing the antenna. Simulation results are presented to show the stabilization performance of the system with the synthesized controllers.
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Petrusová, Helena, Zdeněk Havlas, Pavel Hobza, and Rudolf Zahradník. "A theoretical study on acetylene dimer, acetylene-s-tetrazine and acetylene-benzene associates." Collection of Czechoslovak Chemical Communications 53, no. 11 (1988): 2495–502. http://dx.doi.org/10.1135/cccc19882495.

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Stabilization energies for the title van der Waals molecules were calculated for various mutual orientations of the subsystems. The interaction energy was expressed as a sum of three contributions: the Hartree-Fock interaction energy, the basis set superposition error and the dispersion energy. The potential energy minima represent reasonably good estimates of the structures of the van der Waals molecules.
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NISHIO, Kazunori, Kenji KASHIMA, and Jun-ichi IMURA. "Global Feedback Stabilization of Quantum Noiseless Subsystem." Transactions of the Society of Instrument and Control Engineers 45, no. 9 (2009): 459–68. http://dx.doi.org/10.9746/sicetr.45.459.

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Rosinová, D., and V. Veselý. "Decentralized Controller Design: Subsystem Robust Stabilization Approach." IFAC Proceedings Volumes 44, no. 1 (2011): 2541–45. http://dx.doi.org/10.3182/20110828-6-it-1002.03150.

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Su, Baili, and Dandan Chunyu. "Finite-Time Optimization Stabilization for a Class of Constrained Switched Nonlinear Systems." Mathematical Problems in Engineering 2018 (2018): 1–8. http://dx.doi.org/10.1155/2018/6824803.

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This paper studies the finite-time stability problem of a class of switched nonlinear systems with state constraints and control constrains. For each subsystem, optimization controller is designed by choosing the appropriate Lyapunov function to stabilize the subsystem in finite time and the estimation of the region of attraction can be prescribed. For the whole switched nonlinear system, a suitable switched law is designed to ensure the following: (1) at the time of the transition, Lyapunov function’s value of the switched-in subsystem being less than the value of the last subsystem; (2) the finite-time stability of the whole close-loop system. Finally, a simulation example is used to verify the effectiveness of the proposed algorithm.
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Gao, Zilin, Yinhe Wang, and Lili Zhang. "Adaptive control of structural balance for complex dynamical networks based on dynamic coupling of nodes." International Journal of Modern Physics B 32, no. 04 (2018): 1850042. http://dx.doi.org/10.1142/s021797921850042x.

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In the existing research results of the complex dynamical networks controlled, the controllers are mainly used to guarantee the synchronization or stabilization of the nodes’ state, and the terms coupled with connection relationships may affect the behaviors of nodes, this obviously ignores the dynamic common behavior of the connection relationships between the nodes. In fact, from the point of view of large-scale system, a complex dynamical network can be regarded to be composed of two time-varying dynamic subsystems, which can be called the nodes subsystem and the connection relationships subsystem, respectively. Similar to the synchronization or stabilization of the nodes subsystem, some characteristic phenomena can be also emerged in the connection relationships subsystem. For example, the structural balance in the social networks and the synaptic facilitation in the biological neural networks. This paper focuses on the structural balance in dynamic complex networks. Generally speaking, the state of the connection relationships subsystem is difficult to be measured accurately in practical applications, and thus it is not easy to implant the controller directly into the connection relationships subsystem. It is noted that the nodes subsystem and the relationships subsystem are mutually coupled, which implies that the state of the connection relationships subsystem can be affected by the controllable state of nodes subsystem. Inspired by this observation, by using the structural balance theory of triad, the controller with the parameter adaptive law is proposed for the nodes subsystem in this paper, which may ensure the connection relationship matrix to approximate a given structural balance matrix in the sense of the uniformly ultimately bounded (UUB). That is, the structural balance may be obtained by employing the controlling state of the nodes subsystem. Finally, the simulations are used to show the validity of the method in this paper.
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Rosinova, D., and M. Halická. "Decentralized stabilization of discrete-time systems: subsystem robustness approach." IFAC Proceedings Volumes 27, no. 11 (1994): 209–13. http://dx.doi.org/10.1016/s1474-6670(17)47649-x.

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Ren, Ru-Yi, Zao-Jian Zou, and Jian-Qin Wang. "Time-Scale Decomposition Techniques Used in the Ship Path-Following Problem with Rudder Roll Stabilization Control." Journal of Marine Science and Engineering 9, no. 9 (2021): 1024. http://dx.doi.org/10.3390/jmse9091024.

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The motion control of a surface ship based on a four degrees of freedom (4-DoF) (surge, sway, roll, and yaw) maneuvering motion model is studied in this paper. A time-scale decomposition method is introduced to solve the path-following problem, implementing Rudder Roll Stabilization (RRS) at the same time. The control objectives are to let the ship to track a predefined curve path under environmental disturbances, and to reduce the roll motion at the same time. A singular perturbation method is used to decouple the whole system into two subsystems of different time scales: the slow path-following subsystem and the fast roll reduction subsystem. The coupling effect of the two subsystems is also considered in this framework of analysis. RRS control is only possible when there is the so-called bandwidth separation characteristic in the ship motion system, which requires a large bandwidth separation gap between the two subsystems. To avoid the slow subsystem being affected by the wave disturbances of high frequency and large system uncertainties, the L1 adaptive control is introduced in the slow subsystem, while a Proportion-Differentiation (PD) control law is adopted in the fast roll reduction subsystem. Simulation results show the effectiveness and robustness of the proposed control strategy.
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Pang, Hongbo, and Chensong Li. "Incremental passivity and stabilization for switched nonlinear systems." Transactions of the Institute of Measurement and Control 42, no. 11 (2020): 2088–102. http://dx.doi.org/10.1177/0142331220905389.

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This paper studies the problems of incremental passivity, incremental passification and incremental stabilization for a switched nonlinear system. First, an incremental passivity concept for switched nonlinear systems is proposed. Each subsystem is only required to be incrementally passive, when it is active. The energy change of each inactive subsystem is charaterized. Then, a sufficient condition for such a system to be incrementally passive is given. Second, a state-dependent switching law and state feedback controllers are designed to render a system with relative degree one incrementally passive. Third, we show that an incrementally passive switched nonlinear system can be incrementally stabilized under some constraints on the energy change of inactive subsystems. In particular, a recursive feedback incremental passification design technique is adopted to achieve the incremental stability for a switched nonlinear system with any same relative degree by designing a set of feedback controllers and a state-dependent switching law, constructively. Finally, two examples are provided to verify the effectiveness of the proposed theory.
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Dissertations / Theses on the topic "Orientation and stabilization subsystem"

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Сергєєв, Дмитро Віталійович. "Імітатор магнітного поля для наносупутників". Bachelor's thesis, КПІ ім. Ігоря Сікорського, 2021. https://ela.kpi.ua/handle/123456789/44626.

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У даній роботі описано процес створення системи керування імітатором магнітного поля, який буде використовуватися для випробування підсистеми орієнтації та стабілізації наносупутників КПІ ім. Ігоря Сікорського. Розглянуто конструкцію та принцип роботи магнітних імітаторів. Проведений аналіз існуючих аналогів системи керування. За результатами аналізу прийнято рішення використовувати імпульсний метод регулювання та мостову схему регулятора. Розроблено структурну та принципову схему пристрою. Підібрані необхідні компоненти та створено експериментальний макет системи, для якого написано програмне забезпечення. Проведено випробування, під час якого виявлені значні пульсації струму у котушках імітатора. Для зменшення пульсацій розраховано та створено вихідний фільтр для драйвера котушки. Результати розрахунку підтверджені експериментальними даними.<br>This paper describes the process of creating a control system for a magnetic field simulator, which will be used to test the orientation and stabilization subsystem of nanosatellites of Igor Sikorsky Kyiv Polytechnic Institute. The design and principle of operation of magnetic simulators are considered. The analysis of existing analogues of the control system was carried out. Based on the results of the analysis, it was decided to use the pulse regulation method and the bridge circuit of the regulator. The structural and schematic diagrams of the device were developed. The necessary components were selected and an experimental system layout was created, for which software was written. A test was performed, during which significant current ripple in the simulator coils was detected. To reduce ripple, the output filter for the coil driver was calculated and created. The calculation results are confirmed by experimental data.
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Ahmad, Rihan Ahmed Irfan. "A study on space structure attitude stabilization and actuator degradation." Thesis, University of Leicester, 2012. http://hdl.handle.net/2381/27909.

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This thesis first addresses an important topic concerning space structure control systems, namely, attitude stabilization and control, which is followed by a study on subsystem interactions of general Multi Input Multi Output (MIMO) systems for better performance and actuator fault tolerance. A novel and simple output feedback stabilization approach is proposed for a space structure system characterized with kinematics and dynamics. The approach globally, asymptotically stabilizes the plant and the closed-loop stability is proved using Lyapunov analysis. The simplicity and robustness of the designed controller are demonstrated by investigating the closed-loop response after reducing the degree of freedom in control structure. The stability of the closed-loop system is further analyzed and the performance is compared with two other robust control approaches. The study carries on to another space plant, a Large Space Telescope (LST). Its dynamic model which is fitted with reaction wheels initially developed by NASA is analyzed and the fully coupled dynamics are derived by taking into account the nonlinear coupling phenomena and other terms neglected in their original (NASA) form. The dynamics are combined with Quaternion based kinematics to form an intricate yet realistic LST attitude model. The attitude of the nonlinear LST model is stabilized using a state feedback controller and the LST model is shown to track a time varying attitude reference. Structure configuration is an imperative task in the design of MIMO control systems. In order to make use of interactions between multiple channels so that the system can deal with vulnerability due to actuator degradation, a novel interaction measure is proposed. It is defined as Relative Dependency Index (RDI) and is based on H∞ norms. Such a measurement is effective in understanding the influence of the jth input on the ith output of a system. RDI based guidelines are outlined for configuring a system towards coupling/decoupling. RDI is further extended to the Input Impact Index (i.i.i.) which helps in determining how much an actuator degradation would affect the output of a system. The validity of RDI and i.i.i. is illustrated by simulation results and tested on the linearized spacecraft attitude model presented in the former part of the thesis.
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Tsoba, Arthur, and Артур Олександрович Цьоба. "Automated system for orientation and stabilization of a small spacecraft." Thesis, Національний авіаційний університет, 2021. https://er.nau.edu.ua/handle/NAU/50650.

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Flight control of small spacecraft is one of the most time-consuming and complex components of the process of their operation. This is especially true for small spacecraft, designed to implement modern space programs. As follows from the existing experience of creation and operation of small spacecraft, the reliability and safety of their flight are determined not only by the perfection of the aircraft, but also the quality of methods, tools and flight control systems. In addition, the requirements for control systems affect the appearance and characteristics of the small spacecraft , its systems and onboard software.<br>Керування польотом малих космічних кораблів є однією з найбільш трудомістких і складних складових процесу їх експлуатації. Особливо це стосується малих космічних кораблів, призначених для реалізації сучасних космічних програм. Як випливає з існуючого досвіду створення та експлуатації малих космічних кораблів, надійність та безпека їх польоту визначаються не тільки досконалістю літальних апаратів, але й якістю методів, інструментів та систем управління польотом. Крім того, вимоги до систем керування впливають на зовнішній вигляд та характеристики малого космічного корабля, його систем та бортового програмного забезпечення.
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Gratorp, Eric. "Evaluation of online hardware video stabilization on a moving platform." Thesis, Linköpings universitet, Datorseende, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-98990.

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Recording a video sequence with a camera during movement often produces blurred results. This is mainly due to motion blur which is caused by rapid movement of objects in the scene or the camera during recording. By correcting for changes in the orientation of the camera, caused by e.g. uneven terrain, it is possible to minimize the motion blur and thus, produce a stabilized video. In order to do this, data gathered from a gyroscope and the camera itself can be used to measure the orientation of the camera. The raw data needs to be processed, synchronized and filtered to produce a robust estimate of the orientation. This estimate can then be used as input to some automatic control system in order to correct for changes in the orientation This thesis focuses on examining the possibility of such a stabilization. The actual stabilization is left for future work. An evaluation of the hardware as well as the implemented methods are done with emphasis on speed, which is crucial in real time computing.<br>En videosekvens som spelas in under rörelse blir suddig. Detta beror främst på rörelseoskärpa i bildrutorna orsakade av snabb rörelse av objekt i scenen eller av kameran själv. Genom att kompensera för ändringar i kamerans orientering, orsakade av t.ex. ojämn terräng, är det möjligt att minimera rörelseoskärpan och på så sätt stabilisera videon. För att åstadkomma detta används data från ett gyroskop och kameran i sig för att skatta kamerans orientering. Den insamlade datan behandlas, synkroniseras och filtreras för att få en robust skattning av orienteringen. Denna orientering kan sedan användas som insignal till ett reglersystem för att kompensera för ändringar i kamerans orientering. Denna avhandling undersöker möjligheten för en sådan stabilisering. Den faktiska stabiliseringen lämnas till framtida arbete. Hårdvaran och de implementerade metoderna utvärderas med fokus på beräkningshastighet, som är kritiskt inom realtidssystem.
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Forslöw, Nicklas. "Estimation and Adaptive Smoothing of Camera Orientations for Video Stabilization and Rolling Shutter Correction." Thesis, Linköpings universitet, Reglerteknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-69557.

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Most mobile video-recording devices of today, e.g. cell phones and music players, make use of a Rolling Shutter camera. The camera captures video by recording every frame line-by-line from top to bottom leading to image distortion when either the target or camera is moving. Capturing video by hand also leads to visible frame-to-frame jitter. This thesis presents algorithms for estimation of camera orientations using accelerometer and gyroscope. These estimates can be used to reduce the image distortion caused by camera motion using image processing. In addition an adaptive low pass filtering algorithm used to produce a smooth camera motion is presented. Using the smooth motion the frame-to-frame jitter can be reduced. The algorithms are implemented on the iPod 4 and two output videos are evaluated in a blind experiment with 30 participants. Here, videos are compared to those of competing video stabilization software. The results indicate that the iPod 4 application performs equal or better than its competitors. Also the iPod 4 accelerometer and gyroscope are compared to high end reference sensors in terms of bias and variance.<br>Det är vanligt att dagens mobiltelefoner använder en kamera med rullande slutare för videoinspelning. Dessa kameror fångar varje bild rad för rad från topp till botten vilket leder till bilddistorsion när antingen målet eller kameran rör sig. Inspelade videor upplevs även som skakiga eftersom kameran ej är stilla under inspelningen. I detta examensarbete presenteras algoritmer för skattning av kamerans orientering med hjälp av accelerometer och gyroskop. Skattningarna används sedan för att reducera bilddistorsionen som uppstår då kameran rör sig. En adaptiv algoritm för lågpassfiltrering av kamerans rörelse presenteras. Den mjuka rörelsen som produceras används sedan för att reducera skakigheten i filmerna. Algoritmerna implementeras på iPod 4 och de resulterande filmerna utvärderas i ett blindtest med 30 deltagare. Filmerna jämförs med versioner stabiliserade av konkurrerande mjukvara. Resultaten visar att iPod-applikationen producerar ett lika bra eller bättre resultat än konkurrenterna. Accelerometern och gyroskopet på iPod 4 jämförs även med referenssensorer i den högre prisklassen.
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Morgan, James Randall. "The influence of orientation on the stabilization and carbonization of acrylic precursors and the influence of phosphorous-containing comonomers on the electrical conductance of acrylic-based carbon fibers." Thesis, Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/8631.

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Vadlamani, Ramakrishna P. "Approaches to multiprocessor error recovery using an on-chip interconnect subsystem." 2010. https://scholarworks.umass.edu/theses/380.

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For future multicores, a dedicated interconnect subsystem for on-chip monitors was found to be highly beneficial in terms of scalability, performance and area. In this thesis, such a monitor network (MNoC) is used for multicores to support selective error identification and recovery and maintain target chip reliability in the context of dynamic voltage and frequency scaling (DVFS). A selective shared memory multiprocessor recovery is performed using MNoC in which, when an error is detected, only the group of processors sharing an application with the affected processors are recovered. Although the use of DVFS in contemporary multicores provides significant protection from unpredictable thermal events, a potential side effect can be an increased processor exposure to soft errors. To address this issue, a flexible fault prevention and recovery mechanism has been developed to selectively enable a small amount of per-core dual modular redundancy (DMR) in response to increased vulnerability, as measured by the processor architectural vulnerability factor (AVF). Our new algorithm for DMR deployment aims to provide a stable effective soft error rate (SER) by using DMR in response to DVFS caused by thermal events. The algorithm is implemented in real-time on the multicore using MNoC and controller which evaluates thermal information and multicore performance statistics in addition to error information. DVFS experiments with a multicore simulator using standard benchmarks show an average 6% improvement in overall power consumption and a stable SER by using selective DMR versus continuous DMR deployment.
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VLASÁKOVÁ, Václava. "Zhodnocení finanční náročnosti motivačního programu ve vybraném podniku." Master's thesis, 2013. http://www.nusl.cz/ntk/nusl-156531.

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The aim of this thesis was to evaluate the financial demands of actual motivation program in a chosen company, to analyze it, compare and to describe the development of benefits provided by the company in the course of time in the terms of costs. Next was to find and identify linkages and connections between employee benefits and economic variables of the company and to describe their potential interactions. It was proved that the actual motivational program is very financially demanding for the company considering the deteriorating economic results in last years. It was suggested that if this economy trend continues, it would be better to lower the amount of provided benefits despite their undeniable stabilization effect. It was proved that the company is orientated to tax and insurance advantaged benefits. This can bring the savings in the field of labor costs, on the other hand the increase of additional costs which come from unclear tax system. It showed, that the benefits as well as the wages adapt to economic reality very slowly and also their structure changed according to economic results, from benefits orientated to consumption during economically successful years to the long term responsible benefits during the years of economic decline.
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Books on the topic "Orientation and stabilization subsystem"

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J, Hashmall, Baker D, and Goddard Space Flight Center, eds. Spacecraft attitude determination accuracy from mission experience. National Aeronautics and Space Administration, Goddard Space Flight Center, 1994.

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J, Hashmall, Baker D, and Goddard Space Flight Center, eds. Spacecraft attitude determination accuracy from mission experience. National Aeronautics and Space Administration, Goddard Space Flight Center, 1994.

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Book chapters on the topic "Orientation and stabilization subsystem"

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Kirschfeld, K. "Course control and tracking: Orientation through image stabilization." In Orientation and Communication in Arthropods. Birkhäuser Basel, 1997. http://dx.doi.org/10.1007/978-3-0348-8878-3_3.

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Bozhenyuk, Alexander, Kirill Morev, and Igor Dolgiy. "Image Stabilization by Orientation of the Unmanned Aerial Vehicle." In Lecture Notes in Networks and Systems. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-87178-9_64.

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Kawano, K., Y. Inoue, A. Takemura, T. Kitama, and F. A. Miles. "A Cortically Mediated Visual Stabilization Mechanism with Ultrashort Latency in Primates." In Parietal Lobe Contributions to Orientation in 3D Space. Springer Berlin Heidelberg, 1997. http://dx.doi.org/10.1007/978-3-642-60661-8_11.

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Aliakbarpour, Hadi, Kannappan Palaniappan, and Guna Seetharaman. "Stabilization of Airborne Video Using Sensor Exterior Orientation with Analytical Homography Modeling." In Machine Vision and Navigation. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-22587-2_17.

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Heiker, Andrea, Hansjörg Kutterer, and Jürgen Müller. "Stabilization of Satellite Derived Gravity Field Coefficients by Earth Orientation Parameters and Excitation Functions." In Geodesy for Planet Earth. Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-20338-1_65.

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Kazakova, O. Yu, and L. B. Gasparova. "Dependence of Automatic Installation of Tool Carrier Process on Orientation Errors and Their Effect on Performance Characteristics of Spindle-Tool Subsystem." In Lecture Notes in Mechanical Engineering. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-22041-9_110.

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"Carotenoid Orientation: Role in Membrane Stabilization." In Carotenoids in Health and Disease. CRC Press, 2004. http://dx.doi.org/10.1201/9780203026649-11.

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ROSINOVÁ, D., and M. HALICKÁ. "DECENTRALIZED STABILIZATION OF DISCRETE-TIME SYSTEMS: SUBSYSTEM ROBUSTNESS APPROACH." In New Trends in Design of Control Systems 1994. Elsevier, 1995. http://dx.doi.org/10.1016/b978-0-08-042367-8.50041-0.

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RICHARDSON, C. "Impairments in muscles controlling pelvic orientation and weightbearing." In Therapeutic Exercise for Lumbopelvic Stabilization. Elsevier, 2004. http://dx.doi.org/10.1016/b978-0-443-07293-2.50015-7.

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"Chapter 11. The Stabilization and Differentiation of Mutual Orientation: Respecting Identities Orientation via Respect." In What is Orientation? De Gruyter, 2019. http://dx.doi.org/10.1515/9783110575149-013.

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Conference papers on the topic "Orientation and stabilization subsystem"

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Maity, Sayani, and Greg R. Luecke. "Simulation Study of a Spherical Inverted Pendulum on an Omnidirectional Cart With Holonomic Constraints." In ASME 2018 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dscc2018-9102.

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In this paper we develop the control and stabilization of a spherical jointed inverted pendulum balanced on an omnidirectional cart. The system consists of an omnidirectional cart with mecanum wheels equipped with a spherical inverted pendulum attached at the center of the platform. The inverted pendulum is free to fall in any direction perpendicular to the horizontal plane. The omnidirectional cart has the special ability to move in any direction without changing orientation. It can also rotate around its vertical axis. This balancing platform provides a base with holonomic motion to support and balance the pendulum. In this work, the system has been decoupled into two separate subsystems in the x-z and y-z plane. We develop the system dynamic equations in both vertical planes and design a LQR controller to stabilize the system. Using one-dimensional pendulum experimental data, we validate our controller and extend the approach to stabilize the spherical pendulum in both vertical directions. Simulation results are presented to show the effectiveness of the decoupled system LQR controller in stabilizing the spherical pendulum.
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Palaguta, K. A., B. V. Kirilichev, and N. V. Grunenkov. "Simulation of the Operation of the Vibration Amplitude Stabilization Subsystem." In 2021 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM). IEEE, 2021. http://dx.doi.org/10.1109/icieam51226.2021.9446306.

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Davain, L., S. Fabien, and T. Erler. "Dedicated algorithm for line of sight stabilization and orientation." In 2015 DGON Inertial Sensors and Systems Symposium (ISS). IEEE, 2015. http://dx.doi.org/10.1109/inertialsensors.2015.7314271.

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4

Yavisya, V. S., and N. M. Bendasiuk. "Analysis of methods for orientation and stabilization of nano-satellites." In 2016 4th International Conference on Methods and Systems of Navigation and Motion Control (MSNMC). IEEE, 2016. http://dx.doi.org/10.1109/msnmc.2016.7783131.

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Ozel, Selim, S. Emre Eskimez, and Kemalettin Erbatur. "Humanoid robot orientation stabilization by shoulder joint motion during locomotion." In 2013 9th Asian Control Conference (ASCC). IEEE, 2013. http://dx.doi.org/10.1109/ascc.2013.6606339.

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Matveev, V. V., and V. Ya Raspopov. "MEMS-based devices and systems for orientation, stabilization and navigation." In 2017 24th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS). IEEE, 2017. http://dx.doi.org/10.23919/icins.2017.7995644.

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Shi, Yao-yao, Qiang Zang, Kai Hu, Wei-feng Chen, and Ying Yang. "Backstepping stabilization control for MIMO nonlinear differential-algebraic equations subsystem and its applications." In 2017 36th Chinese Control Conference (CCC). IEEE, 2017. http://dx.doi.org/10.23919/chicc.2017.8027558.

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Malygin, D., and J. Zhigulina. "Design of mechatronic hydrodynamic damper for orientation and stabilization system of nanosatellite." In 2017 24th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS). IEEE, 2017. http://dx.doi.org/10.23919/icins.2017.7995677.

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Chen, Ji, Kurosh Darvish, W. Geoffrey Wright, and Emily A. Keshner. "Multimodal Control of Orientation in Space." In ASME 2009 International Mechanical Engineering Congress and Exposition. ASMEDC, 2009. http://dx.doi.org/10.1115/imece2009-11702.

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The impaired balance of posture accounts for the fall with a large proportion of falls in older people occurring when walking. However, the mechanisms underlying impaired balance during both gait and passive postural state are poorly understood. The objective of the research is to examine the underlying causes of instability and then to eventually create therapeutic interventions that will improve balance and lessen the number of falls related injuries. This paper focuses on developing a laboratory to study the combined influence of motion impact and visual conditions on head stabilization during passive postural jerk impact and simple harmonic movements. Preliminary studies on one healthy subject shows that concordant and discordant visual inputs have more compensatory effect than eyes closed on head stabilization during the jerk impact.
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Michalek, M., and K. Kozlowski. "Asymptotic stabilization for the 3-D chained system: the vector field orientation approach." In Proceedings of the Fifth International Workshop on Robot Motion and Control. IEEE, 2005. http://dx.doi.org/10.1109/romoco.2005.201408.

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