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2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)最新文献

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The Direct Lyapunov Method in the Motion Stabilization Problems of Robot Manipulators 机械臂运动稳定问题的直接Lyapunov方法
2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB) Pub Date : 2020-06-01 DOI: 10.1109/STAB49150.2020.9140548
A. Andreev, O. Peregudova
{"title":"The Direct Lyapunov Method in the Motion Stabilization Problems of Robot Manipulators","authors":"A. Andreev, O. Peregudova","doi":"10.1109/STAB49150.2020.9140548","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140548","url":null,"abstract":"In this paper, an overview of the direct Lyapunov method development in the motion stabilization problem of multi-link robot manipulators is presented. Various robot models are considered such as ones with prismatic and cylindrical joints taking into account the elasticity properties of the connecting elements of the links.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129738662","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Observer for a pacemaker model based on the van der Pol equation 基于范德波尔方程的起搏器模型观测器
2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB) Pub Date : 2020-06-01 DOI: 10.1109/STAB49150.2020.9140467
A. Kanatnikov, O. Tkacheva
{"title":"Observer for a pacemaker model based on the van der Pol equation","authors":"A. Kanatnikov, O. Tkacheva","doi":"10.1109/STAB49150.2020.9140467","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140467","url":null,"abstract":"The work is devoted to the construction of an asymptotic observer for a pacemaker model based on the Van der Pol equation. The cardiac system can be represented as a combination of three oscillatory circuits: the sino-atrial node (pacemaker), the atrio-ventricular node, and the ventricular conducting system, models of which can be constructed using the Van der Pol equation. In practice, only the values of the potentials of the nodes are measurable, while the rates of their changes are not directly measured. The work of the asymptotic observer with linear dynamics of error constructed in the work is illustrated by the mathematical modeling.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124229765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
On Empirical Model of Aerodynamic Torque Acting on Savonius Rotor 萨沃纽斯转子气动力矩的经验模型研究
2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB) Pub Date : 2020-06-01 DOI: 10.1109/STAB49150.2020.9140701
A. Masterova, Y. Selyutskiy, A. Zubkov, R. Garziera
{"title":"On Empirical Model of Aerodynamic Torque Acting on Savonius Rotor","authors":"A. Masterova, Y. Selyutskiy, A. Zubkov, R. Garziera","doi":"10.1109/STAB49150.2020.9140701","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140701","url":null,"abstract":"An empirical model intended for describing the aerodynamic torque acting upon Savonius rotor is proposed. This model allows for parametric analysis of complex mechanical and electromechanical systems containing Savonius rotor using methods of the general mechanics and the theory of dynamical systems. The model is verified using wind tunnel experiments. As an example, a wheeled cart driven by Savonius rotor is considered. Numerical simulation of dynamics of such cart is performed.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128757454","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
On Stability of Periodic Selector-Linear Differential Inclusions with Asymptotically Stable Sets 周期选择器的稳定性——具有渐近稳定集的线性微分包含
2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB) Pub Date : 2020-06-01 DOI: 10.1109/STAB49150.2020.9140645
M. Morozov
{"title":"On Stability of Periodic Selector-Linear Differential Inclusions with Asymptotically Stable Sets","authors":"M. Morozov","doi":"10.1109/STAB49150.2020.9140645","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140645","url":null,"abstract":"This paper considers periodic selector-linear differential inclusions with asymptotically stable sets. The criterium of asymptotic stability is obtained by means of the variational technique and the equivalence of the properties of uniform asymptotic stability and uniform exponential stability for the considered class of inclusions is proved.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117029206","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Optimal pulse stabilization of autonomous linear systems of differential equations with aftereffect 带后效微分方程线性自治系统的最优脉冲镇定
2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB) Pub Date : 2020-06-01 DOI: 10.1109/STAB49150.2020.9140479
Y. Dolgii, A. Sesekin
{"title":"Optimal pulse stabilization of autonomous linear systems of differential equations with aftereffect","authors":"Y. Dolgii, A. Sesekin","doi":"10.1109/STAB49150.2020.9140479","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140479","url":null,"abstract":"The problem of optimal impulse stabilization for a linear autonomous system with aftereffect and quadratic quality criterion is considered. The optimal stabilization problem is formalized as an extreme problem in the functional spaces of states and control. A system of governing equations is obtained for the coefficients of the quadratic Bellman functional. The optimal stabilizing control is found.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131034424","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Nonlinear Model of Heat Transfer for Cylindrical Bodies Controlled by a Thermoelectric Converter 热电变换器控制圆柱体传热的非线性模型
2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB) Pub Date : 2020-06-01 DOI: 10.1109/STAB49150.2020.9140683
A. Gavrikov, G. Kostin
{"title":"A Nonlinear Model of Heat Transfer for Cylindrical Bodies Controlled by a Thermoelectric Converter","authors":"A. Gavrikov, G. Kostin","doi":"10.1109/STAB49150.2020.9140683","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140683","url":null,"abstract":"A boundary control problem for heat transfer processes in solid bodies is considered. The bodies are actuated by applying a voltage to a thermoelectric converter — the Peltier element. A nonlinear model describing the processes both in the Peltier element and heated or cooled bodies is proposed. The model takes into account the recuperation of the heat energy into electric one due to the Seebeck effect and the Joule heating. It is also assumed that there is an exchange of heat with the surrounding medium. As an example, we consider a structure consisting of two coaxial cylinders. A thin Peltier element is placed between them in contact with the ends of the cylinders. By using linearization with respect to the temperature, eigenfunctions are analytically constructed and eigenvalues are found for the resulting nonlinear control problem. Based on the feedback linearization, a feedforward control strategy and feedback compensation of the external disturbances are proposed.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"166 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131113415","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Tracking problem with consideration of physical restrictions on phase variables and controls 考虑相位变量和控制的物理限制的跟踪问题
2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB) Pub Date : 2020-06-01 DOI: 10.1109/STAB49150.2020.9140655
S. Gulyukina, V. Utkin
{"title":"Tracking problem with consideration of physical restrictions on phase variables and controls","authors":"S. Gulyukina, V. Utkin","doi":"10.1109/STAB49150.2020.9140655","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140655","url":null,"abstract":"The paper proposes the solution of the tracking problem for the class of nonlinear systems with restrictions on phase variables and controls based on the nonlinear transformation of the coordinate basis in the form of linear functions with saturation. The results of synthesis within the systems with deep feedback are given. The problem of controlling a heat power object is considered as an application.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129092663","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Autonomous Guidance and Attitude Control of Information Satellite 信息卫星自主制导与姿态控制
2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB) Pub Date : 2020-06-01 DOI: 10.1109/STAB49150.2020.9140501
Y. Somov, S. Butyrin, T. Somova
{"title":"Autonomous Guidance and Attitude Control of Information Satellite","authors":"Y. Somov, S. Butyrin, T. Somova","doi":"10.1109/STAB49150.2020.9140501","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140501","url":null,"abstract":"A new method for autonomous guidance and digital control of the spacecraft orientation while tracking the vector of modified Rodrigues parameters is presented.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128106153","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Mathematical Models of a Solar Sail Spacecraft Controlled Motion 太阳帆航天器控制运动的数学模型
2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB) Pub Date : 2020-06-01 DOI: 10.1109/STAB49150.2020.9140472
V. Korolev, E. Polyakhova, I. Pototskaya, N. Stepenko
{"title":"Mathematical Models of a Solar Sail Spacecraft Controlled Motion","authors":"V. Korolev, E. Polyakhova, I. Pototskaya, N. Stepenko","doi":"10.1109/STAB49150.2020.9140472","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140472","url":null,"abstract":"The features of a solar sail Spacecraft control and the possibilities to take into account the translational and rotational motion are considered. Based on the approximation of the motion equations for various orbits and body parameters, control possibilities and conditions for the stability of motion in given orbits as well as in the vicinity of libration points are discussed.To control the Spacecraft motion you can change the size, shape, surface properties or orientation of the sail elements relative to the flow of sunlight. The equations of motion can be presented based on a model of the problem of two bodies moving in a Central gravitational field, taking into account perturbations. When creating geosynchronous orbits in the vicinity of the Earth or for placing the Sun-Earth-Spacecraft system at libration points, a more general model of the photogravitational restricted three-body problem should be used.To obtain control capabilities and stability conditions for the motion in the specified orbits, as well as in the vicinity of collinear or triangular libration points, we do approximation of the perturbed motion equations system for different orbits and parameters of the main bodies. The stability of the Spacecraft sails system orientation is provided by the forces moments relative to the center of mass.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"143 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124551325","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Polynomial-Based Trajectory Planning for Affine Dynamical Systems under State and Input Constraints 状态和输入约束下仿射动力系统基于多项式的轨迹规划
2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB) Pub Date : 2020-06-01 DOI: 10.1109/STAB49150.2020.9140697
A. Golubev, N. V. Utkina
{"title":"Polynomial-Based Trajectory Planning for Affine Dynamical Systems under State and Input Constraints","authors":"A. Golubev, N. V. Utkina","doi":"10.1109/STAB49150.2020.9140697","DOIUrl":"https://doi.org/10.1109/STAB49150.2020.9140697","url":null,"abstract":"In this note we deal with analytical time polynomial based motion planning considerations. A class of differentially flat affine dynamical systems that can be rendered as a set of second-order controlled subsystems is analyzed. It is shown that state and input box constraints can be readily accounted for by proper choice of time of motion or/and initial or final values of some of the state variables and their time derivatives.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132813326","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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