The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents an approach to determine the time locations of a three-impulses sequence input shaper known as Unity Magnitude shaper (UM). The analytic design of UM shaper is already achieved for undamped systems and for low-damped ones. In this work, the analytic design for damped systems of such shaper is first developed for second order systems, then, extended to explicit fractional derivative...
Shaping command input or preshaping is used for reducing system vibration in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual vibration. This technique, developed by N.C. Singer and W.P. Seering, is used for example in the aerospace field, in particular in flexible structure control. This paper presents the extension of this method...
In path planning design, potential fields can introduce force constraints to ensure curvature continuity of trajectories to facilitate path tracking design. The parametric thrift of fractional potentials permits continuous variation without modification of the geometric distribution of charge. We define here a normalized Weyl fractional potential field which allows continuous passage between these...
A new approach to path tracking using fractional differentiation is proposed with its application by simulation on a DC motor. A methodology for synthesizing a prefilter is defined using an I/O Davidson-Cole transfer function whose main property is having no overshoot on the plant output, whatever the values of its constitutive parameters. This permits synthesis from only two parameters. The optimum...
An approach to path tracking using fractional differentiation has been proposed with its application by simulation on a multivaribale system. This approach has been based on direct optimization of the closed loop output. The global transfer function is assimilated to a Davidson-Cole prefilter for which important property doesn't present overshoot on the plant output. This approach allows synthesis...
Autonomous vehicle navigation requires the integration of many technologies such as path tracking. In path tracking design, we must take into account the dynamic of actuators in order to reduce overshoots appearing for small displacements. It permits the generation of an optimal movement reference-input giving a minimum path completion time, taking into consideration the maximum velocity, acceleration...
In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous works, a path planning design by fractional (or generalized) repulsive potential has been developed to avoid fixed obstacles: danger level of each obstacle was characterized by the fractional order of differentiation, and a fractional...
Shaping command input or preshaping is used for reducing system vibration in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual vibration. This technique, developed by N.C. Singer and W.P. Seering, is used for example in the aerospace field, in particular in flexible structure control. In a previous work, this method was extended for...
In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous works, a path planning design by fractional (or generalized) repulsive potential has been developed to avoid fixed obstacles: danger level of each obstacle was characterized by the fractional order of differentiation, and a fractional...
Fractional differentiation models have proven their usefulness in representing high dimensional systems with only few parameters. Generally, two elementary fractional functions are used in time-domain identification: Cole-Cole and Davidson-Cole functions. A third elementary function, called Havriliak-Negami, generalizes both previous ones and is particularly dedicated to dielectric systems. The use...
This paper concerns the application of flatness principle to fractional MIMO systems in the pseudo-state-space representation. The aim here is to compute linear flat outputs for linear controllable time-invariant systems in polynomial matrix form. The defining matrices expressed with the system variables in terms of a linear flat output and its derivatives define the kernel of a polynomial matrix...
Peroneus digiti quarti rat muscle responses are studied for different pattern stimulations. The multimodel structure presented in previous studies (L. Sommacal et al., 2006) is performed to take into account dynamic and amplitude variations, which depend not only on fatigue but also on amplitude. The multimodel includes fractional sub-models. Fractional orders used in the sub-models lead to transfer...
This paper presents how noninteger order filters can be used in phase locked loop (PLL) based frequency synthesizers in order to increase their stability robustness. Application to a 192MHz PLL involved in a 3.6GHz multimode double loop frequency synthesizer is described
This paper describes an automatic procedure to generate any kind of noise source model, in time domain, including amplitude noise, phase noise or jitter. This approach is particularly suited for discrete-time circuits and systems. The inputs are the noise spectrum characteristics and the output is the VHDL-AMS code of the noise model. As an illustration, examples of a noisy sine wave and a jittered...
This paper presents a new PLL architecture that provides a larger frequency band of phase noise filtering in order to relax VCO building constraints. It consists in a classical PLL with a parallel band pass loop. This topology is called composite PLL. This paper presents some behavioral simulation of such PLL
In path planning, potential fields can introduce force constraints to ensure curvature continuity of trajectories and thus facilitate path-tracking design. This paper presents the comparison between two methods. The first one is the extension of the fast marching method used for path planning design by fractional potential. A fractional road is determined by taking into account danger of each obstacle...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.