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In complex environments, a spherical robot has great application value. When the pendulum spherical robot is stopped or disturbed, there will be a periodic oscillation. This situation will seriously affect the stability of the spherical robot. Therefore, this paper aims to propose a control method based on backstepping and disturbance observers for oscillation suppression.

This paper analyzes the mechanism of oscillation. The oscillation model of the spherical robot is constructed and the relationship between the oscillation and the internal structure of the sphere is analyzed. Based on the oscillation model, the authors design the oscillation suppression control of the spherical robot using the backstepping method. At the same time, a disturbance observer is added to suppress the disturbance.

It is found that the control system based on backstepping and disturbance observer is simple and efficient for nonlinear models. Compared with the PID controller commonly used in engineering, this control method has a better control effect.

The proposed method can provide a reliable and effective stability scheme for spherical robots. The problem of instability in real motion is solved.

In this paper, the oscillation model of a spherical robot is innovatively constructed. Second, a new backstepping control method combined with a disturbance observer for the spherical robot is proposed to suppress the oscillation.

This paper aims to propose a learning exponential jerk trajectory planning to suppress the residual vibrations of industrial robots.

Based on finite impulse response filter technology, a step signal with a proper amplitude first passes through two linear filters and then performs exponential filter shaping to obtain an exponential jerk trajectory and cancel oscillation modal. An iterative learning strategy designed by gradient descent principle is used to adjust the parameters of exponential filter online and achieve the maximum vibration suppression effect.

By building a SCARA robot experiment platform, a series of contrast experiments are conducted. The results show that the proposed method can effectively suppress residual vibration compared to zero vibration shaper and zero vibration and derivative shaper.

The idea of the adopted iterative leaning strategy is simple and reduces the computing power of the controller. A cheap acceleration sensor is available because it just needs to measure vibration energy to feedback. Therefore, the proposed method can be applied to production practice.

The quality of crystals grown from melt depends on the flow field in the melt. To simulate melt conditions, a finite element analysis is performed on flow in a heated cavity under the driving forces of natural convection, thermocapillary effects and rotation. In addition, the gravity field is modulated to simulate a microgravitational environment. The purpose for conducting this research is to determine whether the use of baffles can effectively reduce convection and suppress temperature oscillations. The results show that the baffle is able to suppress convection and reduce the amplitude of the temperature oscillations when placed perpendicular to the modulation direction. Under crystal and crucible rotation, the results with and without baffles are similar. In all cases, baffles did not induce temperature oscillations. From this study, it can be concluded that the effects of baffles on the flow behaviour depends greatly on the direction of gravity modulation and frequency.

This paper aims to gain a clear understanding of the ventilated cavity evolution around an NACA0015 hydrofoil by using both experimental and numerical investigation.

The bubble evolution around an NACA0015 hydrofoil with or without air injection was observed in a water tunnel, and the simulation was conducted using a modified turbulence model and homogeneous cavitation model.

The present simulation method can successfully predict the bubble evolutions around the NACA0015 hydrofoil with or without air injection. Air injection can alleviate the nature cavitation oscillation, and the suppression effect on nature cavitation depends on the air-entrant coefficient. It is confirmed that the air and vapor cavity have the same shedding frequency. It is seen that the air sheet closely attaches to the hydrofoil surface and is surrounded by the vapor sheet. Thus, the injected air promotes vapor growth and results in an increase in the cavity shedding frequency. Further, with a large air-entrant coefficient, the pressure fluctuation is suppressed completely.

The new simulation method is adopted to explore the mechanism of ventilated cavitation. The bubble evolutions with and without air injection have been comprehensively studied by experimental and numerical investigation. The effects of air injection on natural cavity oscillations and pressure fluctuations have been revealed in the present study.

The aim of this study is to design a guidance method to generate a smoother and feasible gliding reentry trajectory, a highly constrained problem by formalizing the control variables profile.

A novel accelerated fractional-order particle swarm optimization (FAPSO) method is proposed for velocity updates to design the guidance method for gliding reentry flight vehicles with fixed final energy.

By using the common aero vehicle as a test case for the simulation purpose, it is found that during the initial phase of the longitudinal guidance, there are oscillations in the state parameters which cause to violate the path constraints. For the glide phase of the longitudinal guidance, the path constraints have higher values because of the increase in the atmosphere density.

The violation in the path constraints may compromise the flight vehicle safety, whereas the enforcement assures the flight safety by flying it within the reentry corridor.

An oscillation suppression scheme is proposed by using the FAPSO method during the initial phase of the reentry flight, which smooths the trajectory and enforces the path constraints partially. To enforce the path constraints strictly in the glide phase, ultimately, another scheme by using the FAPSO method is proposed. The simulation results show that the proposed algorithm is efficient to achieve better convergence and accuracy for nominal as well as dispersed conditions.

The purpose of this paper is to propose an analytical method for prediction of self‐sustained oscillations that might happen during low‐cost induction motor drive application. This forecast is needed to avoid unwanted oscillations that can be encountered for in fan, compressor and pump drives utilizing open‐loop frequency‐controlled three‐phase induction motor drives.

The paper presents the model of the induction motor drive system that includes inverter switches dead‐time and allows discontinuous current of front‐end rectifier. Stability analysis of proposed model was performed by tracing the eigenvalues of the overall system matrix.

Discontinuous rectifier current at light loads and the dead‐time of the inverter switches are the main sources of undesired low‐frequency self‐sustained speed oscillations in open‐loop controlled induction motor drives. The evaluated risk prediction is a function of drive and motor parameters and load level.

The proposed induction motor drive system model highlights the direct connection between the self‐sustained speed oscillations and the system parameters like inverter dead time, dc capacitor values, motor parameters and motor load level. Good accuracy of instability prediction is verified by dynamic simulation and by extensive experimentation.

The purpose of this paper is to establish a criterion for the global asymptotic stability of fixed-point state–space digital filters using saturation overflow arithmetic.

The method of stability analysis used in this paper is the second method of Lyapunov. The approach in this paper makes use of a precise upper bound of the state vector of the system and a novel passivity property associated with the saturation nonlinearities.

The presented criterion leads to an enhanced stability region in the parameter-space as compared to several existing criteria.

When dealing with the design of fixed-point state–space digital filters, it is desirable to have a criterion for selecting the filter coefficients so that the designed filter becomes free of overflow oscillations. The criterion presented in this paper provides enhanced saturation overflow stability region and therefore facilitates the designer greater flexibility in selecting filter parameters for overflow oscillation-free realization of digital filters.

The approach uses the structural properties of the saturation nonlinearities in a greater detail. The exploitation of upper bound of the system state vector together with a new passivity property of saturation nonlinearities is a unique feature of the present approach. The presented approach may lead to results not covered by several existing approaches.

Isotropic artificial dissipation is added to the Navier‐Stokes equations along with a correction term which cancels the artificial dissipation term in the limit when the mesh size is zero. For a finite mesh size, the correction term replaces the artificial viscosity terms with hyperviscosity terms, i.e., with an artificial dissipation which depends on the fourth derivatives of the velocity. Hyperviscosity more effectively suppresses the higher wave number modes and has a smaller effect on the inertial modes of the flow field than does artificial viscosity. This scheme is implemented using the finite element method and therefore the required amount of dissipation is determined by analysing the discretization on a finite element. The scheme is used to simulate the flow in a driven cavity and over a backward facing step and the results are compared to existing results for these cases.

The purpose of this paper is to present a novel approach in aeroservoelastic analysis and robust control of a wing section with two control surfaces in leading‐edge and trailing‐edge. The method demonstrates how the number of model uncertainties can affect the flutter margin.

The proposed method effectively incorporates the structural model of a wing section with two degrees of freedom of pitch and plunge with two control surfaces on trailing and leading edges. A quasi‐steady aerodynamics assumption is made for the aerodynamic modeling. Basically, perturbations are considered for the dynamic pressure models and uncertainty parameters are associated with structural stiffness and structural damping and are accounted for in the model by a Linear Fractional Transformation (LFT) model. The control commands are applied to a first and second order electro‐mechanical actuator.

Dynamic performance of aeroelastic/aeroservoelastic system including time responses, system modal specifications, critical flutter speeds, and stability margins are extracted and compared with each other. Simulation results are validated through experiments and are compared to other existing methods available to the authors. Results of simulations with four structural uncertainties and first order controllers have a good agreement with experimental test results. Furthermore, it is shown that by using a high gain second order controller, the aeroservoelastic (ASE) system does not have any coupling nature in frequency response.

In this study, modeling, simulation, and robust control of a wing section have been investigated utilizing the μ‐Analysis method and the wing flutter phenomenon is predicted in the presence of multiple uncertainties. The proposed approach is an advanced method compared to conventional flutter analysis methods (such as V‐g or p‐k) for calculating stability margin of aeroelastic/aeroservoelastic systems.

The simulations of grid-resolved rod vortex generators (RVGs) require high computational cost and time. Additionally, the computational mesh topology must be adjusted to rods geometries. The purpose of this study is to propose the new source term model for RVG.

The model was proposed by modification of Bender, Anderson, Yagle (BAY) model used to predict flows around different type of vortex generators (VGs) – vanes. Original BAY model was built on lifting line theory. The proposed model was implemented in ANSYS Fluent by means of the user-defined function technique. Additional momentum and energy sources are imposed to transport equations.

The computational results of source term model were validated against experimental data and numerical simulation results for grid-resolved rod. It was shown that modified BAY model can be successfully used for RVG in complex cases. An example of BAY model application for RVG on transonic V2C airfoil with strongly oscillating shock waves is presented. Aerodynamic performance predicted numerically by means of both approaches (grid resolved RVG and modeled) is in good agreement, what indicates application opportunity of the proposed model to complex cases.

Modified BAY model can be used to simulate the influence of RVGs in complex real cases. It allows for time/cost reduction if the location or distribution of RVG has to be optimized on a profile, wing or in the channel.

In the paper, the new modification of BAY model was proposed to simulate RVGs. The presented results are innovative because of original approach to model RVGs.