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.


    Access

    Download


    Export, share and cite



    Title :

    Real time effective mass and moment of inertia measurement


    Contributors:

    Publication date :

    2019-12-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B64C AEROPLANES , Flugzeuge



    REAL TIME EFFECTIVE MASS AND MOMENT OF INERTIA MEASUREMENT

    MCEWAN IAN J | European Patent Office | 2018

    Free access

    Special measurement standard of mass, mass center and inertia moment

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


    Virtual mass and moment of inertia of propellers

    Burrill, L.C. / Robson, W. | Engineering Index Backfile | 1961



    Moment of inertia rig

    Engineering Index Backfile | 1965