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Permanent magnet linear motors are a type of linear motors that are generally used in precision motion control applications. However, the position of motor is easily disturbed by external force, disturbance, and variation in parameters of plant. Therefore, the construction of the high-precision linear motion system is a difficult task. This paper implements a modified disturbance observer and compensator,...
This paper presents an analytical approach for the prediction of future motion to be used in input delay compensation of time-delayed motion control systems. The method makes use of the current and previous input values given to a nominally behaving system in order to realize the prediction of the future motion of that system. The generation of the future input is made through an integration which...
In this paper, we address the problem of motioninduced 3D extrinsic calibration based on different combinations of inter-robot measurements (i.e., distance and/or bearing observations from either or both of the two robots, recorded across multiple time steps) and ego-motion estimates. In particular, we focus on solving minimal problems where the unknown 6-degree-of-freedom transformation between the...
Aiming at the problem that the weight's sway influences production efficiency when crane works, the analyzing method of state-space was adopted to construct the crane system's model. With output variables, the state observer was established so that state variables of the crane system were reconstructed. The poles of observer were assigned at locations which could keep away far from the left side of...
This paper presents an approach to design type- 2 fuzzy logic controllers (FLCs) for dynamic positioning (DP) systems, and the design process can be easily extended to other multi-input multi-output (MIMO) systems with coupling between loops. The combination of FLCs and nonlinear observers removes the need to linearize the kinematic equations of motion when designing control systems for the DP systems...
In this paper, modeling and control of spiral motor is proposed. The voltage equation and motion equation of the spiral motor is proposed. Based on this modeling, control system for the spiral motor is proposed. The proposed controller consists of three parts; the first part is PI current controller with back EMF compensation specialized for spiral motor, the second part is disturbance observer based...
In this paper, vehicle state variables and bank angle estimation for rolling stability control (RSC) is proposed using one accelerometer and two gyro sensors, instead of using inertial navigation system (INS) or global positioning system (GPS). We proposed a novel robust RSC for in-wheel motor electric vehicle (IMEV) using differential torque by right and left motors which are controlled independently...
This paper proposes a method to assess human motion. This method supposes a skill acquisition support for trainee. By using the proposed method, trainee enables to evaluate how coincident own motions are with the motions of trainer. This evaluation is represented as trainee's point. Moreover, this method enables to define a number of motions as evaluation figure. These motions are conducted by a specific...
This paper demonstrates the feasibility of using the Action-Reaction principle in order to identify and observe dynamical system parameter and states respectively by considering the instantaneous system's reaction to an imposed action as a natural feedback from the system. System parameters, dynamics and environmental interaction forces or torques are coupled in this incident natural feedback signal...
This paper introduces a tilt control based movement control scheme for inverted pendulum mobile robots. It is based on direct tilt angle control (DTAC) with a disturbance observer using the Kalman filtering technique. The DTAC is expected to be an effective for high acceleration, and the presented observer achieves a better estimation even if tilt joint angle sensor is a poorly-resolved. Although...
This paper defines ??modal space disturbance??, which is the position error of between environment in real world and virtual system in modal space. The virtual system motions are abstracted by using mode quarry matrix. In addition, this paper proposes ??modal space disturbance observer?? which estimates modal space disturbance. An estimate value of modal space disturbance is calculated, it becomes...
A motion copying system is important to preserve skills of expert engineers. This paper proposes advanced motion copying system of multi degree-of-freedom. The multi in this paper means infinite number degree-of-freedom of system and human. The proposed method saves virtual force and position informations of the virtual systems. If the infinite number person saves independent motions of the infinite...
A high-speed motion control technique for inverted pendulum robots, utilizing instability and a disturbance observer, based on the Kalman filtering technique, is introduced. Inverted pendulums are basically controlled as they do not topple. Shimada et al. developed a contrary idea and presented a controller that deliberately off balanced the robot when it moved. To implement the idea, a controller...
This paper is devoted for the development of a stabilized roll motion model of a motorcycle coupled to a PI observer for state and unknown input estimation. The feedback controller is designed for robust stabilization by yaw angle feedback to the steering torque, it is based on the loop shaping Hinfin method for static feedback controller design. The controller and the observer are designed on a linear...
Electronic line shafting is a control methodology for reproducing the desirable inter-shaft dynamics of a physical line shaft while adding some features that cannot be achieved with a physical line shaft. There are important challenges that must be addressed before ELS can be implemented. In paper manufacturing and converting, drives sharing a common back plane can be easily clocked together so that...
This paper presents the use of backstepping controller in order to construct an active suspension for a quarter car model with observer design. The implementation of backstepping controller is presented in non-linear quarter car model for active suspension system. The movement of the rotational motion of arm has been taking into consideration for this system which has been neglected by the linear...
A six DOF positioning stage that can provide both millimeter range of motion and high accuracy is presented. The proposed solution is based on the use of hybrid maglev actuators to control each DOF, integrated by a decoupling sliding mode controller in combination with a modified passive nonlinear observer. Simulation shows that high accuracy multi-axis motion can be achieved. The workspace of the...
The paper deals with the problem of speed and position estimation in SRM drive equipped with hysteresis band current controller. Instead of measured current the observer utilize reference current. The voltage is calculated from switching on-time. A speed observer structure which uses estimated back EMF and current of each phase is presented. The shaft position is integrated from estimated speed signal.
Rapid dynamic performance and high precision is the important aim of the space robot servo system. Changes of the load torque will influence this performance greatly in servo system. To improve the dynamic performance and ensure the motion harmony of space robot, this paper presented a state observer to observe the load torque on-line, and with the method of least peak value, the regulator parameters...
A new backstepping controller is designed for two different speed sensorless induction motor, based on measurements of stator current. As in field-oriented control scheme, the backstepping analysis generates references for magnetizing flux component and for the speed component of the stator current. The control algorithm is proposed for replacing the existing PI controller to obtain high performance...
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