Optimal motion planning of non-linear dynamic systems in the presence of obstacles and moving boundaries using SDRE: application on cable-suspended robot

Korayem, M. H.; Zehfroosh, Ashkan; Tourajizadeh, Hami; Manteghi, S.

doi:10.1007/s11071-013-1219-7

Cited by 37 publications

(20 citation statements)

References 18 publications

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“…Controlling the behavior of mechanical systems is an integral concept that inevitably arises in entire engineering research fields from dynamics and robotics [9][10][11] to fluid mechanics [12][13][14] and turbulent boundary layers [4][5][6][7]. Boundary layer can be controlled through a passive method, which not needs a controller, and/or an active method, which requires a controller and controlling sensors [8].…”

Section: Boundary Layer Control Methodsmentioning

confidence: 99%

On the Active and Passive Flow Separation Control Techniques over Airfoils

Moghaddam

Neishabouri

2017

IOP Conf. Ser.: Mater. Sci. Eng.

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Abstract. In the present work, recent advances in the field of the active and passive flow separation control, particularly blowing and suction flow control techniques, applied on the common airfoils are briefly reviewed. This broad research area has remained the point of interest for many years as it is applicable to various applications. The suction and blowing flow control methods, among other methods, are more technically feasible and market ready techniques. It is well established that the uniform and/or oscillatory blowing and suction flow control mechanisms significantly improve the lift-to-drag ratio, and further, postpone the boundary layer separation as well as the stall. The oscillatory blowing and suction flow control, however, is more efficient compared to the uniform one. A wide range of parameters is involved in controlling the behavior of a blowing and/or suction flow control, including the location, length, and angle of the jet slots. The oscillation range of the jet slot is another substantial parameter.

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Section: Boundary Layer Control Methodsmentioning

confidence: 99%

On the Active and Passive Flow Separation Control Techniques over Airfoils

Moghaddam

Neishabouri

2017

IOP Conf. Ser.: Mater. Sci. Eng.

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“…SDRE method provides an optimal controller that can be applied to complicated nonlinear dynamic systems easily and systematically [14]. Authors in [15] has done a thorough survey of SDRE that contains details like formulation and structure, optimality concept, state dependent parameterization and stability conditions.…”

Section: Introductionmentioning

confidence: 99%

“…In comparison with LQR, SDRE is proved to be more robust [16]. Difficulties of SDRE's exact solution has given rise to numerical techniques like power series [17], which are developed for the most general cases [14].…”

Section: Introductionmentioning

confidence: 99%

SDRE controller for motion design of cable-suspended robot with uncertainties and moving obstacles

Behboodi

Salehi

2017

IOP Conf. Ser.: Mater. Sci. Eng.

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“…When carrying a heavy payload, instability of the base and greater energy consumption [14] absolutely cannot be ignored. Considering that the nonlinear optimal control using SDRE is an efficient approach for the motion planning problem of manipulator systems which have a large number of DOF and multiple objects [15,16], it is employed in this paper.…”

Section: Introductionmentioning

confidence: 99%

State-Dependent Riccati Equation Control for Motion Planning of Space Manipulator Carrying a Heavy Payload

Jia¹,

Liu²,

Chen³

2015

TOMEJ

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Abstract:In this paper, a nonlinear optimal control approach is proposed to plan the motion of a redundant free-floating space manipulator (FFSM) when carrying a heavy payload. Optimal joint trajectories are determined to track a desired end-effector path, for which limitations of the manipulator's load-carrying capacity and tracking accuracy are simultaneously considered. In this method, FFSM is described as a nonlinear system using the dynamics equation. The integrated performance indicator is proposed as the cost function, which includes tracking error punishment of the endeffector, joint-torques optimization, total energy improvement and instability avoidance of the base. Then the statedependent Riccati equation (SDRE) is established and solved by Taylor series approximation method. The motion planning algorithm is presented, subject to multi-constraints. Simulations are performed for a 7-DOF space manipulator and the results are discussed to illustrate the effectiveness of the proposed approach.

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Optimal motion planning of non-linear dynamic systems in the presence of obstacles and moving boundaries using SDRE: application on cable-suspended robot

Cited by 37 publications

References 18 publications

On the Active and Passive Flow Separation Control Techniques over Airfoils

On the Active and Passive Flow Separation Control Techniques over Airfoils

SDRE controller for motion design of cable-suspended robot with uncertainties and moving obstacles

State-Dependent Riccati Equation Control for Motion Planning of Space Manipulator Carrying a Heavy Payload

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