Search results for "trajectory"
showing 10 items of 203 documents
Time optimal control of a satellite with two rotors
2001
International audience; The aim of this work is to investigate the structure of time-optimal trajectories for a control system modelizing a satellite with two rotors attached along its two fixed axes. Our results extend to the general case those obtained by Sussmann and Tang in an unpublished paper where they treat a particular case described below. We end up finding a sufficient family of four parameters trajectory types. The main tools used are the Pontryagin Maximum Principle, switching functions and envelope theory. © 2001 EUCA.
Synergic algorithms for the planning and the intelligent following of a trajectory for non-holonomic vehicles
2008
Although there are many studies about two wheels non-holonomic vehicles, in order to simplify the problem the planning and the following of trajectories or paths are generally considered two different phases. In this paper, two algorithms for the synergic working of trajectory planning with intelligent trajectory following are presented. The "trajectory shape" characteristics obtained in the planning phase are used for the efficient trajectory following. From the shape, in order to follow the trajectory, an intelligent controller calculates, without further elaboration, the reference wheels velocity of the vehicle. The knowledge of trajectory shape characteristics and curvature constraints …
A nonlinear dynamical approach to the path correction of multi-steering articulated vehicles
2020
When designing articulated tractor-trailer systems, engineers should take care to contrast some undesired phenomena associated with the lateral dynamics: the path off-tracking, namely the trajector...
Compensation of compliance errors in parallel manipulators composed of non-perfect kinematic chains
2012
The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In contrast to previous works, in addition to compliance errors caused by machining forces, the problem of assembling errors caused by inaccuracy in the kinematic chains is considered. The advantages and practical significance of the proposed approach are illustrated by examples that deal with groove milling with Orthoglide manipulator.
Compliance error compensation technique for parallel robots composed of non-perfect serial chains
2012
The paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-linear stiffness modeling which is able to take into account the influence of non-perfect geometry of serial chains caused by manufacturing errors. Within the developed technique, the deviation compensation reduces to an adjustment of a target trajectory that is modified in the off-line mode. The advantages and practical significance of the proposed technique are illustrated by an example that deals with groove milling by the Orthoglide manipulator that considers different locations of the workpiece. It is also de…
Theoretical and Experimental Studies on the Influence of Process Parameters on Strains and Forces of Single Point Incremental Forming
2014
These paper aims to determine the influence of the most important geometrical parameters (vertical step and punch diameter) on the main strains, thickness reduction and the forces along two directions during the single point incremental forming process (SPIF). The paper comprises a comparative numericalexperimental study, for a simple geometry part obtained by incremental forming. In fact, in the first stage, the punch has a vertical motion with the value of one vertical step. In the second stage, the punch follows a linear trajectory along one side of the die. After each linear trajectory the punch has successive vertical motions, taking one vertical step at a time until the entire geometr…
An EKF Based Method for Path Following in Turbulent Air
2017
An innovative use of the Extended Kalman Filter (EKF) is proposed to perform both accurate path following and adequate disturbance rejection in turbulent air. The tuned up procedure employs simultaneously two different EKF: the first one estimates gust disturbances, the second one estimates modified aircraft parameters. The first filter, by using measurements gathered in turbulent air, estimates both aircraft states and wind components. The second one, by using the estimated disturbances, obtains command laws that are able to reject disturbances. The predictor of the second EKF uses the estimated wind components to solve motion equations in turbulent air. Besides a set of unknown stability …
Automatic EKF tuning for UAS path following in turbulent air
2018
By using two simultaneously working Extended Kalman Filters, a procedure is implemented in order to perform in a fully autonomous way the path following in turbulent air. To guarantee the robustness of the proposed algorithm, an automatic tuning procedure is proposed to determine optimal values of Process and Measurement Noise statistics. Such a procedure is based on both the characteristics of the disturbances and the desired flight path; in particular, a specific performance index is applied to tune filters. In this way control laws are adapted to the flight condition and these lead to an optimal path-following. This research represents an upload of previous papers. It allows eliminating …
Modeling Bedload Transport Trajectories along a Sine-generated Channel
2019
This study explores the influences of flow discharge and particle size on bedload transport trajectory by applying a depth-averaged two-dimensional model to a 110° sine-generated laboratory flume with wide-and-shallow sections. Calculated results exhibit two erosion regions in a bend: Zone-1 ‒ foreside of the point bar near the convex bank and Zone-2 ‒ near the apex of the concave bank. Sediments eroded from Zone-1 are mainly transported along the same-side convex bank rather than crossing the channel centerline, indicating the crucial role of longitudinal flow in shaping point bars. Most particles from Zone-2, however, behave more complicated by changing their trajectories with the develop…
A Trajectory-Driven 3D Non-Stationary mm-Wave MIMO Channel Model for a Single Moving Point Scatterer
2021
This paper proposes a new non-stationary three-dimensional (3D) channel model for a physical millimeter wave (mm-Wave) multiple-input multiple-output (MIMO) channel. This MIMO channel model is driven by the trajectory of a moving point scatterer, which allows us to investigate the impact of a single moving point scatterer on the propagation characteristics in an indoor environment. Starting from the time-variant (TV) channel transfer function, the temporal behavior of the proposed non-stationary channel model has been analyzed by studying the TV micro-Doppler characteristics and the TV mean Doppler shift. The proposed channel model has been validated by measurements performed in an indoor e…