Relevant bibliographies by topics / Overactuated systems

Academic literature on the topic 'Overactuated systems'

Author: Grafiati
Published: 10 December 2022
Last updated: 28 January 2023

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Journal articles on the topic "Overactuated systems"

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Touati, Nahla, Imen Saidi, Ahmed Dhahri, and Dhaou Soudani. "Internal Multimodel Control for Nonlinear Overactuated Systems." Arabian Journal for Science and Engineering 44, no. 3 (August 18, 2018): 2369–77. http://dx.doi.org/10.1007/s13369-018-3515-5.

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Demenkov, Max. "Reconfigurable direct control allocation for overactuated systems." IFAC Proceedings Volumes 44, no. 1 (January 2011): 4696–700. http://dx.doi.org/10.3182/20110828-6-it-1002.03790.

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Wu, Wen Juan, and Guang Ren Duan. "Tracking control of overactuated systems with actuator faults." International Journal of Dynamical Systems and Differential Equations 5, no. 2 (2015): 112. http://dx.doi.org/10.1504/ijdsde.2015.069880.

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Cristofaro, Andrea, Marios M. Polycarpou, and Tor Arne Johansen. "Fault-Tolerant Control Allocation for Overactuated Nonlinear Systems." Asian Journal of Control 20, no. 2 (August 24, 2017): 621–34. http://dx.doi.org/10.1002/asjc.1619.

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Park, Jinseong, and Youngjin Park. "Multiple-Actuator Fault Isolation Using a Minimal ℓ1-Norm Solution with Applications in Overactuated Electric Vehicles." Sensors 22, no. 6 (March 10, 2022): 2144. http://dx.doi.org/10.3390/s22062144.

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A multiple-actuator fault isolation approach for overactuated electric vehicles (EVs) is designed with a minimal ℓ1-norm solution. As the numbers of driving motors and steering actuators increase beyond the number of controlled variables, an EV becomes an overactuated system, which exhibits actuator redundancy and enables the possibility of fault-tolerant control (FTC). On the other hand, an increase in the number of actuators also increases the possibility of simultaneously occurring multiple faults. To ensure EV reliability while driving, exact and fast fault isolation is required; however, the existing fault isolation methods demand high computational power or complicated procedures because the overactuated systems have many actuators, and the number of simultaneous fault occurrences is increased. The method proposed in this paper exploits the concept of sparsity. The underdetermined linear system is defined from the parity equation, and fault isolation is achieved by obtaining the sparsest nonzero component of the residuals from the minimal ℓ1-norm solution. Therefore, the locations of the faults can be obtained in a sequence, and only a consistently low computational load is required regardless of the isolated number of faults. The experimental results obtained with a scaled-down overactuated EV support the effectiveness of the proposed method, and a quantitative index of the sparsity condition for the target EV is discussed with a CarSim-connected MATLAB/Simulink simulation.
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Yoon, Deokkyun, Xinyi Ge, and Chinedum E. Okwudire. "Optimal Inversion-Based Iterative Learning Control for Overactuated Systems." IEEE Transactions on Control Systems Technology 28, no. 5 (September 2020): 1948–55. http://dx.doi.org/10.1109/tcst.2019.2917682.

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Zhang, Weixuan, Maximilian Brunner, Lionel Ott, Mina Kamel, Roland Siegwart, and Juan Nieto. "Learning Dynamics for Improving Control of Overactuated Flying Systems." IEEE Robotics and Automation Letters 5, no. 4 (October 2020): 5283–90. http://dx.doi.org/10.1109/lra.2020.3007451.

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Casavola, Alessandro, and Emanuele Garone. "Fault-tolerant adaptive control allocation schemes for overactuated systems." International Journal of Robust and Nonlinear Control 20, no. 17 (January 12, 2010): 1958–80. http://dx.doi.org/10.1002/rnc.1561.

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Bernhard, Sebastian, and Jurgen Adamy. "Optimal Output Regulation for Square, Overactuated and Underactuated Linear Systems." IEEE Transactions on Automatic Control 65, no. 10 (October 2020): 4416–23. http://dx.doi.org/10.1109/tac.2019.2959999.

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Khelassi, A., J. Jiang, D. Theilliol, P. Weber, and Y. M. Zhang. "Reconfiguration of Control Inputs for overactuated Systems based on Actuators health." IFAC Proceedings Volumes 44, no. 1 (January 2011): 13729–34. http://dx.doi.org/10.3182/20110828-6-it-1002.02174.

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Dissertations / Theses on the topic "Overactuated systems"

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Kahraman, Ozgur. "Control Allocation Against Actuator Failures In Overactuated Small Satellites." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12609038/index.pdf.

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In this thesis, attitude control of small satellites with dissimilar actuator is studied and the effects of control allocation methods on maneuvering are examined in detail. Magnetorquers and reaction wheels are considered as the actuators of a modeled remote sensing -nadir pointing- small satellite. Matlab®
Simulink simulation models are developed to model the satellite dynamics and the actuators on the satellite. The simulations are based on conceptual RASAT satellite, and, for verification, orbit data is taken from BILSAT satellite that is operated by TUBITAK Space Research Institute. Basic satellite control modes are developed and tested to obtain nominal control. Actuator failures are analyzed for different possible cases. A control allocation method called Blended Inverse that was originally proposed for steering CMGs is applied to select the actuators to avoid actuator saturation and singularity transition. The performance of traditional pseudo inverse method is compared with the blended inverse method and simulation results are given and discussed. The superiority of blended inverse over pseudo inverse is demonstrated.
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Omerdic, Edin. "Thruster fault diagnosis and accommodation for overactuated open-frame underwater vehicles." Thesis, University of South Wales, 2004. https://pure.southwales.ac.uk/en/studentthesis/thruster-fault-diagnosis-and-accommodation-for-overactuated-openframe-underwater-vehicles(d010b243-e2ee-4a12-9ff0-037c9e1af958).html.

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The work presented in the thesis concerns the design and development of a novel thruster fault diagnosis and accommodation system (PDAS) for overactuated, open-frame underwater vehicles. The remotely operated vehicles (ROVs) considered in this thesis have four thrusters for motion in the horizontal plane with three controllable degrees of freedom (DoF). Due to the redundancy resulting from this configuration, for the case of a partial fault or a total fault in a single thruster it is possible to reallocate control among operable thrusters in order that the ROV pilot is able to maintain control of the faulty ROV and to continue with missions. The proposed PDAS consists of two subsystems: a fault diagnosis subsystem (FDS) and a fault accommodation subsystem (FAS). The FDS uses fault detector units to monitor thruster states. Robust and reliable interrogation of thruster states, and subsequent identification of faults, is accomplished using methods based on the integration of selforganising maps and fuzzy logic clustering. The FAS uses information provided by the FDS to perform an appropriate redistribution of thruster demands in order to accommodate faults. The FAS uses a hybrid approach for control allocation, which integrates the pseudoinverse method and the fixed-point iterations method. A control energy cost function is used as the optimisation criteria. In fault-free and faulty cases the FAS finds the optimal solution, which minimises this criteria. The concept of feasible region is developed in order to visualise thruster velocity saturation bounds. The PDAS provides a dynamic update of saturation bounds using a complex three-dimensional visualisation of the feasible region (attainable command set), such that the ROV pilot is informed with the effects of thruster fault accommodation, incorporated in the new shape of the attainable command set. In this way the ROV pilot can easy adapt to newly created changes and continue the mission in the presence of a fault. The prototype of the PDAS was developed in the MATLAB environment as a Simulink model, which includes a nonlinear model of an ROV with 6 DOF, propulsion system and a hand control unit. The hand control unit was simulated in hardware using a joystick as input device to generate command signals. Different fault conditions are simulated in order to investigate the performance of the PDAS. A virtual underwater world was developed, which enabled tuning, testing and evaluation of the PDAS using simulations of two underwater vehicles (FALCON, Seaeye Marine Ltd. and URIS, University of Girona) in a 'realistic' underwater environment. The performance of the PDAS was demonstrated and evaluated via tank trials of the FALCON ROV in QinetiQ Ocean Basin Tank at Haslar, where the existing control software was enhanced with the PDAS algorithm. The results of real-world experiments confirmed the effectiveness of the PDAS in maintaining vehicle manoeuvrability and in preserving the vehicle mission in the presence of thruster faults.
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Book chapters on the topic "Overactuated systems"

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Cristofaro, Andrea, Damiano Rotondo, and Tor Arne Johansen. "An unknown input observer-based framework for fault and icing detection and accommodation in overactuated unmanned aerial vehicles." In Fault Diagnosis and Fault-tolerant Control of Robotic and Autonomous Systems, 67–92. Institution of Engineering and Technology, 2020. http://dx.doi.org/10.1049/pbce126e_ch4.

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Conference papers on the topic "Overactuated systems"

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Haddad, Alain, Abdel Aitouche, and Vincent Cocquempot. "Hierarchical diagnosis for an overactuated autonomous vehicle." In 2013 Conference on Control and Fault-Tolerant Systems (SysTol). IEEE, 2013. http://dx.doi.org/10.1109/systol.2013.6693956.

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Tohidy, Shahab, and Ali Khaki Sedigh. "Fault tolerant fuzzy control allocation for overactuated systems." In 2013 13th Iranian Conference on Fuzzy Systems (IFSC). IEEE, 2013. http://dx.doi.org/10.1109/ifsc.2013.6675653.

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Touati, Nahla, Imen Saidi, and Dhaou Soudani. "IMC Filter Design for Frequency Control in Overactuated Systems." In 2020 4th International Conference on Advanced Systems and Emergent Technologies (IC_ASET). IEEE, 2020. http://dx.doi.org/10.1109/ic_aset49463.2020.9318224.

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Liu, Tong, Hongliang Shen, Haizheng Li, and Dongyu Liu. "A Fast Search Direct Allocation Method for Overactuated Systems." In 2019 Chinese Control Conference (CCC). IEEE, 2019. http://dx.doi.org/10.23919/chicc.2019.8866094.

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Falconi, Guillermo P., Christian D. Heise, and Florian Holzapfel. "Novel control law for predictor-based MRAC for overactuated systems." In 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV). IEEE, 2016. http://dx.doi.org/10.1109/icarcv.2016.7838854.

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Meskin, Nader, and K. Khorasani. "Fault Detection and Isolation of Actuator Faults in Overactuated Systems." In 2007 American Control Conference. IEEE, 2007. http://dx.doi.org/10.1109/acc.2007.4282384.

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Vermillion, Chris, Jing Sun, and Ken Butts. "Model predictive control allocation for overactuated systems - stability and performance." In 2007 46th IEEE Conference on Decision and Control. IEEE, 2007. http://dx.doi.org/10.1109/cdc.2007.4434722.

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Goff, Gregoire Le, Marc Bodson, and Maurice Fadel. "Model Reference Control of Constrained Overactuated Systems with Integral Compensation." In 2022 IEEE 61st Conference on Decision and Control (CDC). IEEE, 2022. http://dx.doi.org/10.1109/cdc51059.2022.9992648.

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Bole, Brian M., Douglas W. Brown, Hai-Long Pei, Kai Goebel, Liang Tang, and George Vachtsevanos. "Load allocation for risk management in overactuated systems experiencing incipient failure conditions." In 2010 Conference on Control and Fault-Tolerant Systems (SysTol). IEEE, 2010. http://dx.doi.org/10.1109/systol.2010.5675970.

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Ganovski, Latchezar L., Paul Fisette, and Jean-Claude Samin. "Modeling of Overactuated Closed-Loop Mechanisms With Singularities: Simulation and Control." In ASME 2001 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/detc2001/vib-21324.

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Abstract The modeling and control of redundantly actuated closed-loop mechanical systems is considered in the present work an illustrated with a planar four-bar mechanism and a 3-D parallel manipulator. A specific trajectory involving singular configurations is generated and then followed using the overactuation. To generate the trajectory, four-degree polynomial functions are considered. The loop constraint equations are solved by means of the Newton-Raphson numerical algorithm. In order to describe the dynamics of the systems, the Lagrange multiplier technique is used. The multipliers are eliminated via the coordinate partitioning method. To overcome the underdetermined state of the system induced by the overactuation, additional equations that represent a specific condition for smoothly passing through the singularities are applied. Further, to control the redundantly actuated mechanisms a feed-forward controller is chosen. The robustness of the controller is investigated through several cases of simulation including random noise applied to the controller input and instantaneous loading.
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