Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics

Autor: Gabriele Nava, Giuseppe L'Erario, Hosameldin Awadalla Omer Mohamed, Fabio Bergonti, Daniele Pucci, Luca Fiorio, Emilio Benenati, Silvio Traversaro
Jazyk: angličtina
Rok vydání: 2020
Předmět:
FOS: Computer and information sciences
Control and Optimization
Computer science
Turbines
Biomedical Engineering
Thrust
02 engineering and technology
Systems and Control (eess.SY)
Fuels
Propulsion
01 natural sciences
Sliding mode control
Electrical Engineering and Systems Science - Systems and Control
law.invention
Computer Science - Robotics
Artificial Intelligence
law
Control theory
0103 physical sciences
0202 electrical engineering
electronic engineering
information engineering
FOS: Electrical engineering
electronic engineering
information engineering
Feedback linearization
aerospace robotics
control system synthesis
feedback
jet engines
linearisation techniques
nonlinear control systems
variable structure systems
model jet engine
nonlinear order model
second order model
model structure
modeling controlling
identifying controlling
jet powered robotics
sparse identification
nonlinear dynamics
gray-box identification procedures
feedback linearization
sliding mode control method
Jet (fluid)
010304 chemical physics
business.industry
Mechanical Engineering
Calibration and identification
aerial systems
robotics in hazardous fields
020206 networking & telecommunications
Robotics
Computer Science Applications
Jet engine
Human-Computer Interaction
Nonlinear system
Identification (information)
Atmospheric modeling
Control and Systems Engineering
Computer Vision and Pattern Recognition
Artificial intelligence
Jet engines
business
Robotics (cs.RO)
Robots
Robots
Jet engines
Turbines
Atmospheric modeling
Fuels
Propulsion
Popis: The paper contributes towards the modeling, identification, and control of model jet engines. We propose a nonlinear, second order model in order to capture the model jet engines governing dynamics. The model structure is identified by applying sparse identification of nonlinear dynamics, and then the parameters of the model are found via gray-box identification procedures. Once the model has been identified, we approached the control of the model jet engine by designing two control laws. The first one is based on the classical Feedback Linearization technique while the second one on the Sliding Mode control. The overall methodology has been verified by modeling, identifying and controlling two model jet engines, i.e. P100-RX and P220-RXi developed by JetCat, which provide a maximum thrust of 100 N and 220 N, respectively.
Comment: 8 pages, 12 figures, submitted to RA-L and ICRA
Databáze: OpenAIRE
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