Control
Seyedeh Mahsa Zakipour Bahambari; Saeed Khankalantary
Abstract
This article focuses on the design of a controller for quadcopter position control, which is then used to organize a group of quadcopters into a specific formation. Initially, PID controllers are developed to manage all output variables of the quadcopter systems efficiently. Subsequently, a constrained ...
Read More
This article focuses on the design of a controller for quadcopter position control, which is then used to organize a group of quadcopters into a specific formation. Initially, PID controllers are developed to manage all output variables of the quadcopter systems efficiently. Subsequently, a constrained tube-model predictive control (Tube-MPC) approach is implemented to regulate the system's position, comparing its performance to that of the tube-MPC controller. The article also explores the coordination of a group of six quadcopters, focusing on achieving a predefined formation that maintains the desired shape. Three different scenarios are examined to control the formation, assessing how each approach influences the arrangement and coordination of the quadcopters. The dynamics of the system's control are crucial for effective operation in multi-agent systems. Moreover, the configuration of the quadcopters is influenced by each quadcopter's internal controller, ensuring accurate formation and tracking. This study underscores the significance of sophisticated control strategies in improving the performance and coordination of multiple quadcopter systems.
Control
Mohammad Shahi; Mohammad Reza Sohrabi; Sadegh Etedali; Abbas-Ali Zamani
Abstract
This research proposes an innovative process to locate devices in elevation using structural results in uncontrolled and controlled (passive and active) states, considering Soil-Structure Interaction (SSI) effects, especially for soft soil. Also, a Proportional Integral Derivative (PID) controller with ...
Read More
This research proposes an innovative process to locate devices in elevation using structural results in uncontrolled and controlled (passive and active) states, considering Soil-Structure Interaction (SSI) effects, especially for soft soil. Also, a Proportional Integral Derivative (PID) controller with active single and multiple control devices is used for tall buildings under earthquakes. In addition, the simultaneous and non-simultaneous tuning of the design parameters are examined. The results of applying PID with a Multiple Active Tuned Mass Damper (MATMD) compared with the Single-Active Tuned Mass Damper (SATMD) show that the proposed process of locating the control devices reduces responses significantly. It also reduces the computational efforts of the optimization noticeably. The results of the non-simultaneous tuning of design parameters in all states also indicate an increase in the instability potential of the structure compared with simultaneous tuning. On the other hand, the reduction of the Root Mean Square (RMS) of the responses compared with the uncontrolled state confirms the effective performance of the system during earthquakes. Therefore, this research helps researchers gain a new design vision of how to locate control devices in tall buildings without optimization calculations and how to set parameters in the presence of SSI effects.
