Introduction to Embedded Model Control

Canuto, Enrico; Novara, Carlo; Massotti, Luca; Carlucci, D.; Montenegro, Carlos Perez

doi:10.1016/b978-0-08-100700-6.00014-3

Cited by 7 publications

(6 citation statements)

References 17 publications

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“…Command torques are also generated by reaction forces that do not pass through the CoM. As such, only propulsion, orbit and attitude control can be achieved [78]. Rotating masses, on the other hand, produce a variation in angular momentum in any direction, consequently commanding a torque for attitude control [78].…”

Section: Moving-mass Control In Spacecraft and Aircraftmentioning

confidence: 99%

“…As such, only propulsion, orbit and attitude control can be achieved [78]. Rotating masses, on the other hand, produce a variation in angular momentum in any direction, consequently commanding a torque for attitude control [78]. The masses are rotated by electric motors and the corresponding actuators are either fixed-axis variable-speed motors (reaction wheels) or control moment gyros with gimbaled fixed-speed motors that may be oriented in any desired direction.…”

Section: Moving-mass Control In Spacecraft and Aircraftmentioning

confidence: 99%

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Modeling and Control of an Articulated Multibody Aircraft

2022

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Insects use dynamic articulation and actuation of their abdomen and other appendages to augment aerodynamic flight control. These dynamic phenomena in flight serve many purposes, including maintaining balance, enhancing stability, and extending maneuverability. The behaviors have been observed and measured by biologists but have not been well modeled in a flight dynamics framework. Biological appendages are generally comparatively large, actuated in rotation, and serve multiple biological functions. Technological moving masses for flight control have tended to be compact, translational, internally mounted and dedicated to the task. Many flight characteristics of biological flyers far exceed any technological flyers on the same scale. Mathematical tools that support modern control techniques to explore and manage these actuator functions may unlock new opportunities to achieve agility. The compact tensor model of multibody aircraft flight dynamics developed here allows unified dynamic and aerodynamic simulation and control of bioinspired aircraft with wings and any number of idealized appendage masses. The demonstrated aircraft model was a dragonfly-like fixed-wing aircraft. The control effect of the moving abdomen was comparable to the control surfaces, with lateral abdominal motion substituting for an aerodynamic rudder to achieve coordinated turns. Vertical fuselage motion achieved the same effect as an elevator, and included potentially useful transient torque reactions both up and down. The best performance was achieved when both moving masses and control surfaces were employed in the control solution. An aircraft with fuselage actuation combined with conventional control surfaces could be managed with a modern optimal controller designed using the multibody flight dynamics model presented here.

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Section: Moving-mass Control In Spacecraft and Aircraftmentioning

confidence: 99%

Section: Moving-mass Control In Spacecraft and Aircraftmentioning

confidence: 99%

Modeling and Control of an Articulated Multibody Aircraft

2022

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“…The OEs of an orbit are the following:

{x}_1

is the semimajor axis,

{x}_2

is the eccentricity,

{x}_3

is the inclination,

{x}_4

is the right ascension of the ascending node,

{x}_5

argument of the periapsis,

{x}_6

is the true anomaly (see Reference 39(section 5.3) for their formal definition). The spacecraft traveling on the orbit is subject to external forces, which typically include the thruster force and different types of perturbations.…”

Section: Space Applicationsmentioning

confidence: 99%

“…The dynamics of the OEs is described by a set of six first‐order differential equations called Gauss planetary equations, which can be written as follows (see Reference 39(section 5.3.1)):

{\dot{x}}_1\kern0.5em =\frac{2\left({u}_1{x}_2\sin \left({x}_6\right)+{u}_2{x}_2\cos \left({x}_6\right)+{u}_2\right)}{\sqrt{1-{x}_2^2}\sqrt{\frac{\eta }{x_1^3}}},

\begin{matrix} alignleft \\ align-1 {\dot{x}}_{2} & align-2 = \frac{\sqrt{1 - x_{2}^{2}} (u_{2} (x_{2} + \cos (x_{6}) (x_{2} \cos (x_{6}) + 2)) + u_{1} \sin (x_{6}) (x_{2} \cos (x_{6}) + 1))}{\sqrt{\frac{η}{x_{1}^{3}}} (x_{1} + x_{2} x_{1} \cos ())} \end{matrix}

…”

Section: Space Applicationsmentioning

confidence: 99%

Local sliding mode inversion algorithms and state observers with space applications

Possieri

Novara

2022

Intl J Robust & Nonlinear

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The main objective of this work is to propose novel finite‐time algorithms to either invert a time‐varying map or to estimate the state of a time‐varying nonlinear plant. The former goal is pursued by using a sliding mode version of the Newton algorithm, whereas the latter objective is achieved by resorting to the inverse of the Jacobian matrix of the observability map to implement a sliding mode differentiator in the original coordinates. Finally, it is shown how these two techniques can be efficiently used to solve some relevant space applications, such as the estimation of the angular velocity of an axial symmetric satellite, the estimation of the inertia parameters of an orbiting object from measurements of its angular velocities, and the estimation of a Keplerian orbital element given measurements of the other five ones.

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“…Further, the dual quaternions method allows to avoid the gimbal lock phenomenon. A gimbal lock problem is a loss of 1-DOF in 3D-space that occurs when using the Euler angles [4]. As an example, suppose a rigid body rotates in 3D-space in the following order Z, Y and X and the angle of rotation about the axis Y equal to 90°.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and Dynamics Modeling of 7 Degrees of Freedom Human Lower Limb Using Dual Quaternions Algebra

Benhmidouch¹,

Moufid²,

Omar³

2023

Preprint

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Denavit and Hartenberg based methods as Cardan, Fick and Euler angles describe the position and orientation of an end-effector in Three Dimensional (3D) space. However, the generation of unrealistic human posture in joint space constitutes the weak point to these methods because they impose a well-defined rotations order. A method to handle the transformation homogeneous performance uses the dual quaternions. Quaternions have proven themselves in many fields as providing a computational efficient method to represent a rotation, and yet, they can not deal with the translations in 3D-space. The dual numbers can extend quaternions to dual quaternions. This paper exploits dual quaternions theory to provide a fast and accurate solution to the forward, inverse kinematics and recursive Newton-Euler dynamics algorithm for 7 Degree of Freedom (DOF) human lower limb in 3D-space.

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Introduction to Embedded Model Control

Cited by 7 publications

References 17 publications

Modeling and Control of an Articulated Multibody Aircraft

Modeling and Control of an Articulated Multibody Aircraft

Local sliding mode inversion algorithms and state observers with space applications

Kinematics and Dynamics Modeling of 7 Degrees of Freedom Human Lower Limb Using Dual Quaternions Algebra

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