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This paper uses virtual impedance method to improve the stability and accuracy of the Power hardware-in-the-loop (PHIL), which mainly deals with the errors introduce by the interface equipment. A PHIL system, which consists of a real-time simulator (RTS), interface equipment (IE) and a hardware under test (HUT), has been discussed and its impedance model has been analyzed. Based on the analysis, a...
Research so far on adaptive bilateral control of master-slave teleoperation systems considers dynamic uncertainties but stops short of considering kinematic uncertainties. However, when picking up objects of unknown lengths, orientations and gripping points, the overall kinematics of a robot in the teleoperation system becomes uncertain. Therefore, new controllers are required that can guarantee the...
In this paper, four different power conversion methods (voltage control, duty-cycle control, frequency control and phase-shift control) are compared for wireless power transfer applications by considering the energy transfer efficiency, electromagnetic interference, stability, and implementation complexity. The phase-shift control is found to be the optimal scheme with good efficiency and low electromagnetic...
The modelling and stabilising control of networked control systems (NCSs) with stochastic packet loss and time-varying delays are addressed. In specific, a novel Markovian jump linear system with time-varying delays is used to model the NCS. Without using the augmented state method, sufficient conditions for the stochastic stabilisation of the NCS with packet loss and time-varying delays are obtained...
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