Browsing by Author "Yang, Yi-Ling"

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Landing posture control of a generalized 5-RDOF twin-body system via methods of input-output linearization and PD control
(2007)
Yang, Yi-Ling
;
Yang, Cheng-Cheng
;
Chao, Paul C. -P.
;
Sung, Cheng-Kuo
;
電控工程研究所
This study is dedicated to achieve landing posture control of a generalized 5-Rotadonal-DOF (5-RDOF) twin-body system using methods of PD control and input-output linearization. The 5-RDOF twin-body system considered is in fact a simplified model of a cellular phone. A successfully designed landing posture control scheme is expected to prevent structural damage of the cellular phone. To this end, dynamic equations of motion for the 5-RDOF twin-body system are built based on the Lagrange-Euler formulation. To simplify the modeling, the input torques associated with 2-RDOF joint have been decoupled by defining relative rotational angles of the joint as state variables. There are two controllers applied to achieve the final landing posture control: (1) PD controller and (2) input-output linearization with computed torques. Finally, the controller performance is validated by MATLAB simulations. The results show that the design controller is capable of performing landing control, and the relations between dynamics responses and control variables are discussed.
Landing Posture Control via Trajectory Planning for a Generalized Twin-body System
(2009)
Yang, Yi-Ling
;
Chao, Paul C. -P.
;
Sung, Cheng-Kuo
;
電控工程研究所
;
Institute of Electrical and Control Engineering
For the purpose of preventing a free-failing object from damage, this study is devoted to the landing posture control via trajectory planning for a generalized twin-body system by employing the methods of PD and sliding control. The system discussed herein is the simplified model of a free-failing cellular phone with two rotational DOFs. In this paper, the governing equations of the system are first established based on the Lagrange-Euler formulation. Then, PD and sliding controllers are designed to achieve the desired landing posture. In addition, the trajectory planning is adopted to reduce the input energy. The performance of the controller is validated by MATLAB simulations, and the relations between input energy, trajectory-function, and falling height are discussed.
Sliding-mode control of a twin-body system with 2-relative-RDOF to achieve desired landing postures
(2007)
Yang, Yi-Ling
;
Yang, Chen Cheng
;
Chao, Paul C. -P.
;
Sung, Cheng-Kuo
;
電控工程研究所
This study is dedicated to accomplish landing posture control of a twin-body system with 2-relative rotation degree of freedom (RDOF) using method of sliding control. The twin-body system is simplified model of a cellular phone with two relative RDOF, the inclination between two bodies and rotation through self-axis. The objective of the research is controlling the landing posture without structural damage. First, the equations governing the dynamics of the twin-body system are essential based on the Lagrange-Euler formulation. The damping uncertainty caused by the actuators with bearing would be considered, and the robust controller is designed based on the sliding control and applied to achieve the control object. Finally the controller performance is validated by MATLAB simulations. The results shown that the designed controller is capable of performing lading control, and the relations between dynamics responses and control variables are discussed.