Motion control system of UAV using compensation method of information flow

Rudakova, Hanna; Ternova, T. I.; Lebedenko, Yu.O.

doi:10.1109/apuavd.2017.8308810

Cited by 3 publications

(4 citation statements)

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“…However, when a cart enters the water (zone 3), it smoothly changes ( Figure 10). To describe the dependence of on the path traveled, you can use z-shaped membership functions [7], which leads to the expression…”

Section: Model Descriptionmentioning

confidence: 99%

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Using Recurrent Procedures in Adaptive Control System for Identify the Model Parameters of the Moving Vessel on the Cross Slipway

Rudakova

Polyvoda

Omelchuk

2018

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The article analyses the problems connected with ensuring the coordinated operation of slipway drives that arise during the launch of a ship. The dynamic model of load of the electric drive of the ship's cart is obtained taking into account the peculiarities of the construction of the ship-lifting complex, which allows us to analyse the influence of external factors and random influences during the entire process of launching the ship. A linearized mathematical model of the dynamics of a complex vessel movement in the process of descent in the space of states is developed, which allows us to identify the mode of operation of the multi-drive system, taking into account its structure. The analysis of application efficiency of recurrent methods for identification (stochastic approximation and least squares) of the linearized model parameters in the space of states is carried out. A decision support system has been developed in the automated system of operational control by the module for estimating the situation and the control synthesis to ensure a coherent motion of a complex ship-carts object in a two-phase environment. Keywords: the slipway; the adaptive control system; the least squares method; the periodic procedure; the parameters estimation; a large-sized object; a recurrent algorithm; the identification procedure

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Section: Model Descriptionmentioning

confidence: 99%

“…The bulky object motion on a plane can be described in form of sums of translational and rotational motions, which are presented by expressions relatively to the centre of mass [7]:…”

Section: Model Descriptionmentioning

confidence: 99%

Using Recurrent Procedures in Adaptive Control System for Identify the Model Parameters of the Moving Vessel on the Cross Slipway

Rudakova

Polyvoda

Omelchuk

2018

Data

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“…To describe the dependence of on the path traveled, you can use z-shaped membership functions [4], which leads to the expression…”

Section: Figure 10 the Change Of The Coefficient Of Rolling Frictionmentioning

confidence: 99%

“…The movement of a large object on a surface can be regarded as the sum of translational and rotational motions, which are described by equations with respect to the center of mass [4]:…”

Section: Figure 10 the Change Of The Coefficient Of Rolling Frictionmentioning

confidence: 99%

Using Recurrent Procedures in Adaptive control System for Identify the Model Parameters of the Moving Vessel on the Cross Slipway

Rudakova

Polyvoda

Omelchuk

2018

Preprint

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The article analyzes the problems connected with ensuring the coordinated operation of slipway drives that arise during the launch of a ship. The dynamic model of load of the electric drive of the ship's cart is obtained taking into account the peculiarities of the construction of the ship-lifting complex, which allows to analyze the influence of external factors and random influences during the entire process of launching the ship. A linearized mathematical model of the dynamics of a complex vessel movement in the process of descent in the space of states is developed, which allows to identify the mode of operation of the multi-drive system, taking into account its structure. The analysis of efficiency of application of recurrent methods of identification (stochastic approximation and least squares) of the parameters of the linearized model in the space of states is carried out. A decision support system has been developed in the automated system of operational control by the module for estimating the situation and the control synthesis to ensure a coherent motion of a complex ship-carts object in a two-phase environment.

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