CONTROL OF MOBILE ROBOTS

The input of a controller is

• Sensed signal

• Error signal

• Desired variable value

• Signal of fixed amplitude not dependent on desired variable value

Derivative output compensation gives

• Improvement in transient response

• Reduction in steady state error

• Reduction is settling time

• Increase in damping constant

Which one of the following methods can determine the closed loop system resonance frequency operation?

• Root locus method

• Nyquist method

• Bode plot

• M and N circle

Nichol’s chart is useful for the detailed study of:

• Closed loop frequency response

• Open loop frequency response

• Close loop and open loop frequency responses

• None of the mentioned

A stepper motor may be considered as a ____________ converter.

• Dc to dc

• Ac to ac

• Dc to ac

• Digital-to-analogue

The output of the feedback control system must be a function of:

• Reference input

• Reference output

• Output and feedback signal

• Input and feedback signal

When deriving the transfer function of a linear element

• Both initial conditions and loading are taken into account

• Initial conditions are taken into account but the element is assumed to be not loaded

• Initial conditions are assumed to be zero but loading is taken into account

• Initial conditions are assumed to be zero and the element is assumed to be not loaded

______ control systems have unpredictable & non-repeatable.

• Static

• Dynamic

• Deterministic

• Stochastic

Feedback control systems are referred to as closed loop systems.

• TRUE

• FALSE

A state space model (often called the state transition model) is a mathematical equation that represents the ____ of a robotic system from one timestep to the next.

• MOTION

• STRUCTURE

• REFERENCE

• ALL THE OPTIONS ARE CORRECT