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In order to improve the maneuverability and safety of the air cushion vehicle (ACV), considering the internal uncertainties, external disturbances, chattering in sliding mode control, the second order nonsingular terminal sliding mode (SONTSM) controller with extended state observer (ESO) is designed to achieve the course control of ACV. The course controller includes two parts: second order nonsingular...
Linear Electric Submersible Pump is a new industrial solution in artificial lift applications. Linear motors are placed downhole to drive the reciprocating pump directly. This system is intended to overcome some of the sucker rod pump limitations. The new configuration will allow implementation in deviated and off-shore oil wells. Integrated Drive-Motor technology shows many promising advantages....
Precise force detection is required to realize precise force control, and a lot of research have been conducted for precise and robust force estimation. Based on the industrial trends that the number of load-side encoders is increasing in various industrial fields, a force observer using load-side encoder information has already been proposed to avoid the estimation performance deterioration in the...
The accurate information of vehicle states that could not be obtained directly by onboard sensors is virtual important for vehicle active safety systems. This paper presents the nonlinear full-order observer which is used to estimate the longitudinal velocity, lateral velocity and road grade estimation with autonomous driving. Firstly, this paper established a simplified vehicle dynamics model for...
In this work a system for the estimation of the forces (both longitudinal and lateral) exerted between the tires and the road is presented. Starting from two of the most commonly used descriptions of the vehicle dynamics, the single-corner and the single-track models, a system composed of Sub-Optimal Second Order Sliding Mode observers in a cascade structure plus an adaptive element is developed and...
A nonlinear reduced-order vehicle velocity observer based on vehicle dynamics is proposed. Firstly, the longitudinal force of the tire is obtained by cascade tire-force estimation method based on the sliding mode observer, and the results are verified. Then, based on the simplified three-degree-of-freedom vehicle model, a nonlinear reduced-order observer with yaw rate as the correction term is designed...
This paper investigates the dynamics of the motion of accelerated observers in Special Relativity (SR) theory. The presented discussion highlights the memristive character of the force dynamics, when velocity takes the role of state variable. Under this state-space representation, both spatial and time components of the four-force exhibit distinct memristive dynamics, with pinched hysteresis loops,...
This study aims to design a locomotion controller with detecting and inhibiting side-slipping and to verify the validity of the proposed method in experiments. This report is written the model occur side slip on each link derive and the approach propose based on this Model. We have expressed the motion in case of side-slip occurs on each link, have controlled side-slip in simulation.
Several position sensorless control methods of IPMSMs(Interior Permanent Magnet Synchronous Motors) using the observers have been proposed. In case of the full-order observers, these designs are difficult, because the order of the error equations of the observers becomes four. In this paper, for the position sensorless control of IPMSMs, a design method of the full-order observer based on the extended...
The tubular transverse-flux and flux-reversal linear permanent magnet motor (TTF-FRLM) is a relatively novel linear machine which has approximate sinusoidal back-EMF waveform and high thrust force density. Because of its salient pole structure in the secondary, the force ripple is relatively large which is not conductive to high performance applications. New approach for suppressing force ripples...
A novel sensorless speed control algorithm based on sliding mode observer (SMO) for permanent magnet synchronous motors (PMSM) is proposed. By utilizing a phase locked loop algorithm (PLL) based on synchronous reference frame and an embedded low pass filter, the drawback of SMO called “chattering phenomenon” is effectively attenuated, with no phase delay caused by the filter. The active back electromotive...
The tail-sitter unmanned aerial vehicle (UAV) is a kind of vertical take-off and landing (VTOL) UAV which has the merits of both fixed-wing and rotary-wing. The tail-sitter UAV in this paper has three flight modes. The most important stage is the transition stage. The model for the transition stage is established and a transition flight strategy is constructed so that the UAV can change vertical takeoff...
In this paper, an output feedback control scheme is developed for the dynamic positioning (DP) system of vessels with immeasurable velocities. A high-gain observer is constructed to estimate the immeasurable velocities. By combining the high-gain observer with backstepping technique, an output feedback control scheme is designed. By Lyapunov functions, it is illustrated that the developed output feedback...
Aiming at the tracking demands of the subway train to desired operation curve, an decentralized model predictive control algorithm (EDMPC) based on extended state observer (ESO) is proposed for automatic train operation (ATO) system so as to solve the problem that conventional decentralized model predictive control (DMPC) cannot process. Firstly, a train multi-point model is established, based on...
Cross-axis coupling is an important motion error source of parallel mechanism. This issue poses a challenge on large range XY compliant nanomanipulating systems to achieve the desired motion quality. In this work, the repetitive controller is utilized to track periodic inputs. Also the cross-axis coupling of the XY parallel mechanism is treated as an equivalent disturbance in each axis, and the equivalent...
Under the high-speed operation, the control precision of the industrial robot is low and the robustness is poor due to the coupling effects of joints, inertia parameter variation and external disturbance. In order to solve these problems, a nonlinear compensation control algorithm of high-speed operation robot is proposed by combining the PID control method with the automatic disturbance rejection...
The position tracking control problem of electrical cylinder in the presence of nonlinear friction load, inertia load and nonlinear disturbance due to its transmission process is addressed in this paper. To compensate all of these disturbances in the case of servo motion, active disturbance rejection control is used to make a continuous and precise transition. Tracking differentiator is used for arranging...
In vehicle motion control, it is important to improve both dynamic performance and ride comfort by vibration suppression. Vehicles with combustion engines or on-board motors can only suppress resonant modes in the low frequency band such as the heave, pitch, and roll modes due to the limitation in torque responsiveness. However, in the case of vehicles with in-wheel motors, it is possible to suppress...
In this paper, proposed a reaction force estimation and bilateral control of master slave manipulation in hydraulic servo system based on Sliding mode control with sliding perturbation observer (SMCSPO). The reaction force is estimated by sliding perturbation observer (SPO) without using any force sensor. The estimated reaction force without force sensor is transmitted to the master device using the...
This paper proposes a force control system using the State Observer Based Disturbance Observer (SO-DOB) and the State Observer Based Reaction Force Observer (SO-RFOB) based on the novel observer gain tuning methodology. The observer gain tuning methodology is based on the stable margin theory. By using the proposed gain tuning methodology, the system stability and the robustness of the SO-DOB and...
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