A control system and method for controlling an autonomous or semi-autonomous device. The method includes receiving a command signal representative of a desired acceleration, instructing the device to accelerate according to the desired acceleration, receiving a measurement signal representative of an actual acceleration, determining an initial control response based on the actual acceleration via a prediction model, applying a mathematical transform to the command signal and measurement signal, determining a mathematical model of the device based on the transformed command signal and transformed measurement signal, smoothing parameters of the mathematical model, inverting a transfer function of the mathematical model, updating control responses based on the mathematical model and inverted transfer function, and controlling the device according to the updated control responses. Improved performance of the control system itself and hence improved control of the autonomous or semi-autonomous device is thereby achieved.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    REAL TIME EFFECTIVE MASS AND MOMENT OF INERTIA MEASUREMENT


    Beteiligte:
    MCEWAN IAN J (Autor:in)

    Erscheinungsdatum :

    2018-05-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge



    Real time effective mass and moment of inertia measurement

    MCEWAN IAN J | Europäisches Patentamt | 2019

    Freier Zugriff

    Special measurement standard of mass, mass center and inertia moment

    Dovydenko, O. / Samoylenko, A. / Petronevich, V. | IEEE | 2020


    Moment of inertia rig

    Engineering Index Backfile | 1965


    Determination of a missile polar mass moment of inertia

    Lee, Hsing-Juin / Lee, Yang-Chung / Lee, Hsing-Wei | AIAA | 1993