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This paper proposes a trajectory controller and a trajectory generation algorithm for an Ackerman vehicle. The definition of the system is based on a dynamic model which makes it possible to describe it in terms of the input signals normally reacheable for the driver: the torque of the engine related with the level of the gas pedal, and the movement of the steering wheel. This way, this control method...
In recent times, the interest from scientific and industrial community for the micrometric range has observed an important growth. The advances in microelectronics or the research on microbiology are just two examples of fields requiring technologies capable of assuring accurate displacements in that range. The present work focuses on the mechanical and control design of a micrometer range positioning...
Positioning and tracking devices with micrometer range and sub-micrometer resolution are becoming of special interest in recent years for an extending range of applications including metrological devices, manipulators and mechanization systems both in research and high precision industries (for example, semiconductors). The control of these systems is not an easy task because of its normally high...
Piezoelectric actuators are becoming very popular in applications such as nanopositioning, active vibration control or noise reduction, sometimes as part of so called smart structures. The possibility of accurately moving big loads on a micrometric scale and over a wide range of frequencies has resulted in an intense growth of this technology. This interest has prompted the development of a wide variety...
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