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Journal articles on the topic 'Overactuated systems'

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Author: Grafiati

Published: 10 December 2022

Last updated: 28 January 2023

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1

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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2

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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3

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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4

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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5

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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6

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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7

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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8

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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9

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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10

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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11

van Zundert, Jurgen, Fons Luijten, and Tom Oomen. "Exact and Causal Inversion of Nonminimum-Phase Systems: A Squaring-Down Approach for Overactuated Systems." IEEE/ASME Transactions on Mechatronics 24, no. 6 (December 2019): 2953–63. http://dx.doi.org/10.1109/tmech.2019.2945865.

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12

Peni, Tamas, Balint Vanek, Gyorgy Liptak, Zoltan Szabo, and Jozsef Bokor. "Nullspace-Based Input Reconfiguration Architecture for Overactuated Aerial Vehicles." IEEE Transactions on Control Systems Technology 26, no. 5 (September 2018): 1826–33. http://dx.doi.org/10.1109/tcst.2017.2737622.

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13

Furci, Michele, Carlo Nainer, Luca Zaccarian, and Antonio Franchi. "Input Allocation for the Propeller-Based Overactuated Platform ROSPO." IEEE Transactions on Control Systems Technology 28, no. 6 (November 2020): 2720–27. http://dx.doi.org/10.1109/tcst.2019.2944341.

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14

Li, Boyuan, Haiping Du, Weihua Li, and Bangji Zhang. "Integrated Dynamics Control and Energy Efficiency Optimization for Overactuated Electric Vehicles." Asian Journal of Control 20, no. 5 (November 8, 2017): 1952–66. http://dx.doi.org/10.1002/asjc.1686.

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15

Shahi, M., and A. H. Mazinan. "Monte-Carlo based cascade control approach with focus on real overactuated space systems." Journal of Central South University 23, no. 12 (December 2016): 3171–82. http://dx.doi.org/10.1007/s11771-016-3383-7.

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16

MA, Jian-Jun, Zhi-Qiang ZHENG, and De-Wen HU. "Subspace Predictive Dynamic Control Allocation for Overactuated System with Actuator Dynamics." Acta Automatica Sinica 36, no. 1 (April 19, 2010): 130–38. http://dx.doi.org/10.3724/sp.j.1004.2010.00130.

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17

Kidd. "Artificial Immune Systems: An Overview for Faulting Actuators." Actuators 8, no. 3 (June 29, 2019): 53. http://dx.doi.org/10.3390/act8030053.

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This paper reviews Artificial Immune Systems (AIS) that can be implemented to compensate for actuators that are in a faulted state or operating abnormally. Eventually, all actuators will fail or wear out, and these actuator faults must be managed if a system is to operate safely. The AIS are adaptive algorithms which are inherently well-suited to these situations by treating these faults as infections that must be combated. However, the computational intensity of these algorithms has caused them to have limited success in real-time situations. With the advent of distributed and cloud-based computing these algorithms have begun to be feasible for diagnosing faulted actuators and then generating compensating controllers in near-real-time. To encourage the application of AIS to these situations, this work presents research for the fundamental operating principles of AIS, their applications, and a brief case-study on their applicability to fault compensation by considering an overactuated rover with four independent drive wheels and independent front and rear steering.

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18

Li, Heng, Xiaogong Lin, Anzuo Jiang, and Chonglang Lai. "Control Allocation-Based Robust Tracking Control for Overactuated Surface Vessels Subject to Time-Varying Full-State Constraints." Electronics 11, no. 5 (March 3, 2022): 794. http://dx.doi.org/10.3390/electronics11050794.

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In this paper, we propose a robust tracking control scheme for trajectory tracking of overactuated marine surface vessels subject to environmental disturbances and asymmetric time-varying full-state constraints. The proposed robust control scheme is based on the unified barrier function technique that converts the original constrained dynamic positioning system into an equivalent nonconstrained one. In contrast to barrier Lyapunov function-based methods, the unbreakable requirement on the constraints is less restrictive, and the resultant controller is much simpler in this paper. The effect of environmental disturbances is compensated by a double-layer adaptive sliding mode disturbance observer. On the basis of the proposed adaptive disturbance observer, unknown lumped uncertainty can be estimated in finite time without knowing the upper bounds of the derivative of the lumped uncertainty. Since the surface vessel is overactuated, a control allocation scheme is required to distribute the generalized force signal to the actuators. The enhanced redistributed pseudoinverse algorithm is employed to ensure that the generalized force can be redistributed among the redundant actuators. Lastly, a simulation study is carried out on a dynamic positioning ship to verify the effectiveness of the proposed control method.

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19

Akram, Waseem, Alessandro Casavola, and Nikola Miškovic. "Robust Adaptive Control Allocation Schemes for Overactuated Underwater Vehicles under Actuator Faults." IFAC-PapersOnLine 55, no. 6 (2022): 67–72. http://dx.doi.org/10.1016/j.ifacol.2022.07.107.

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20

Su, Yao, Pengkang Yu, Matthew J. Gerber, Lecheng Ruan, and Tsu-Chin Tsao. "Nullspace-Based Control Allocation of Overactuated UAV Platforms." IEEE Robotics and Automation Letters 6, no. 4 (October 2021): 8094–101. http://dx.doi.org/10.1109/lra.2021.3103637.

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21

Abrishami, Arya, and Shengping Gong. "Optimized Control Allocation of an Articulated Overactuated Solar Sail." Journal of Guidance, Control, and Dynamics 43, no. 12 (December 2020): 2321–32. http://dx.doi.org/10.2514/1.g005227.

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22

Naskar, Asim Kumar, Sourav Patra, and Siddhartha Sen. "New control allocation algorithms in fixed point framework for overactuated systems with actuator saturation." International Journal of Control 90, no. 2 (June 13, 2016): 348–56. http://dx.doi.org/10.1080/00207179.2016.1181785.

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23

Valasek, Michael, Josef Zicha, Martin Karasek, and Rene Hudec. "Hexasphere—Redundantly Actuated Parallel Spherical Mechanism as a New Concept of Agile Telescope." Advances in Astronomy 2010 (2010): 1–6. http://dx.doi.org/10.1155/2010/348286.

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The paper deals with the description of a new concept for a spherical mechanism for agile telescopes. It is based on redundantly actuated parallel kinematical structure. Due to the three times overactuated structure and application of several further innovative concepts, the Hexasphere achieves the movability of±100 degrees. This enables the use of a Hexasphere as the basis for mounts of telescopes. Such telescopes can be optimized for minimum weight or for maximum dynamics. The proposed mechanism is expected to play a role in novel robotic telescopes nowadays used in many fields of astronomy and astrophysics, with emphasis on automated systems for alert observations of celestial gamma-ray bursts.

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24

Chen, Mou. "Constrained Control Allocation for Overactuated Aircraft Using a Neurodynamic Model." IEEE Transactions on Systems, Man, and Cybernetics: Systems 46, no. 12 (December 2016): 1630–41. http://dx.doi.org/10.1109/tsmc.2015.2505687.

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25

Yin, Mingzhou, Q. P. Chu, Y. Zhang, Michael A. Niestroy, and C. C. de Visser. "Probabilistic Flight Envelope Estimation with Application to Unstable Overactuated Aircraft." Journal of Guidance, Control, and Dynamics 42, no. 12 (December 2019): 2650–63. http://dx.doi.org/10.2514/1.g004193.

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26

Meunier, G., B. Boulet, and M. Nahon. "Control of an Overactuated Cable-Driven Parallel Mechanism for a Radio Telescope Application." IEEE Transactions on Control Systems Technology 17, no. 5 (September 2009): 1043–54. http://dx.doi.org/10.1109/tcst.2008.2004812.

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27

Ma, J., Z. Zheng, and D. Hu. "Modular robust reconfigurable flight control system design for an overactuated aircraft." IET Control Theory & Applications 6, no. 11 (2012): 1620. http://dx.doi.org/10.1049/iet-cta.2011.0394.

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28

Wang, Rongrong, and Junmin Wang. "Passive Actuator Fault-Tolerant Control for a Class of Overactuated Nonlinear Systems and Applications to Electric Vehicles." IEEE Transactions on Vehicular Technology 62, no. 3 (March 2013): 972–85. http://dx.doi.org/10.1109/tvt.2012.2232687.

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29

Feemster, Matthew G., and Joel M. Esposito. "Comprehensive framework for tracking control and thrust allocation for a highly overactuated autonomous surface vessel." Journal of Field Robotics 28, no. 1 (November 30, 2010): 80–100. http://dx.doi.org/10.1002/rob.20369.

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30

Saidi, Imen, Nahla Touati, Ahmed Dhahri, and Dhaou Soudani. "A comparative study on existing and new methods to design internal model controllers for non-square systems." Transactions of the Institute of Measurement and Control 41, no. 13 (April 12, 2019): 3637–50. http://dx.doi.org/10.1177/0142331219834608.

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This paper focuses on a challenging problem in the internal model control (IMC) strategy: the model inversion to design the IMC controller for non-square systems. Several existing approaches for the synthesis of a specific inversion of the identified model will be presented in this paper to deal with the differences between the system’s inputs and outputs numbers. The non-square effective relative gain is firstly presented. It consists of the measurement of interactions between the loops of the system in order to square the system and make it invertible. The equivalent transfer function method is presented as well. It is based on tuning the pseudo-inverse of the process to design the internal model controller. These methods are then compared with a novel proposed model inversion approach based on virtual outputs method. Virtual adding is considered in order to obtain an invertible square transfer matrix to design the internal model controller. This simple yet effective method ensures robust control performance. Its efficiency and availability, as compared with other presented methods, is illustrated through simulations on an overactuated system with three inputs/two outputs.

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31

Huang, Xiuwei, and Guang-Ren Duan. "Dynamic infinity-norm constrained control allocation for attitude tracking control of overactuated combined spacecraft." IET Control Theory & Applications 13, no. 11 (July 23, 2019): 1692–703. http://dx.doi.org/10.1049/iet-cta.2018.5707.

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32

Chen, Yan, and Junmin Wang. "Design and Experimental Evaluations on Energy Efficient Control Allocation Methods for Overactuated Electric Vehicles: Longitudinal Motion Case." IEEE/ASME Transactions on Mechatronics 19, no. 2 (April 2014): 538–48. http://dx.doi.org/10.1109/tmech.2013.2249591.

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33

Kang, Zeyu, Qiang Shen, Shufan Wu, and Christopher J. Damaren. "Prescribed Performance-Based Fixed-Time Adaptive Control Allocation for Overactuated Spacecraft." Journal of Guidance, Control, and Dynamics, November 30, 2022, 1–11. http://dx.doi.org/10.2514/1.g006915.

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34

Yang, Lu, Ming Yue, Jie Wang, and Wenbin Hou. "RMPC-Based Directional Stability Control for Electric Vehicles Subject to Tire Blowout on Curved Expressway." Journal of Dynamic Systems, Measurement, and Control 141, no. 4 (December 19, 2018). http://dx.doi.org/10.1115/1.4042029.

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This paper presents a directional stability control based on robust tube-based model predictive control (RMPC) approach for an overactuated electric vehicle after tire blowout on curved expressway, in the presence of the exogenous disturbances, such as cross wind and road variation. To begin with, the vehicle dynamic simulation platform allowing for the tire vertical force redistribution after tire blowout is presented, and the reliability of the platform is further analyzed by comparing with the existing experimental test results. After that, a RMPC-based controller is designed to enhance the directional stability performance of the vehicle on curved expressway after tire burst. Also, a pseudo inverse switch control allocator is developed to realize the allocation of the desired resultant signal for the remained effective wheels at the last stage. In the end, the simulation results conducting on the depicted simulation platform demonstrate the favorable maneuverability of the proposed method over the conventional model predictive control (MPC) in enhancing directional stability performance of the vehicle after a tire blowout on curved expressway.

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35

Mazinan, A. H. "On comprehensive cascade control strategy considering a class of overactuated autonomous non-rigid space systems with model uncertainties." Robotics and Autonomous Systems, December 2015. http://dx.doi.org/10.1016/j.robot.2015.12.004.

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36

Mazinan, A. H. "High-precision full quaternion based finite-time cascade attitude control strategy considering a class of overactuated space systems." Human-centric Computing and Information Sciences 5, no. 1 (September 11, 2015). http://dx.doi.org/10.1186/s13673-015-0047-9.

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37

Aghili, Farhad. "Projection-Based Control of Parallel Mechanisms." Journal of Computational and Nonlinear Dynamics 6, no. 3 (February 1, 2011). http://dx.doi.org/10.1115/1.4002942.

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The unifying idea for most model-based control approaches for parallel mechanism is to derive a minimal-order dynamics model of the system and then design the corresponding controller. The problem with such a control approach is that the controller needs to change its structure whenever the mechanical system changes its number of degrees-of-freedom. This paper presents a projection-based control scheme for parallel mechanism that works whether the system is overactuated or not; it does not require derivation of the minimal-order dynamics model. Since the dimension of the projection matrix is fixed, the projection-based controller does not need to change its structure whenever the mechanical system changes its number of degrees-of-freedom. The controller also allows to specify lower and upper bounds on the actuator forces/torques, making it suitable not only for the control of parallel manipulators with limited force/torque capability of the actuators but also for backlash-free control of parallel manipulators as well as for control of tendon driven parallel manipulators. The stability of the projection-based controllers is rigourously proved, while the condition for the controllability of parallel manipulators is also derived in detail. Finally, experimental results obtained from a simple parallel mechanism, which changes its degrees-of-freedom, are appended. The results also demonstrate that the maximum actuator torque can be reduced by 20% if the actuator saturation is taken into account by the controller.

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