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Since input shaping control is based on open-loop control technique, robustness to modeling error is crucial for successful application of it. The robustness of input shaping control has conventionally been evaluated from the ratio of residual vibration amplitude with input shaping to that without input shaping. However there has been no serious consideration on robustness measures of input shaping...
The performance of input shaping control has been conventionally estimated by a sensitivity function V, but the numerical relationship between the sensitivity function V and maximum residual vibration has not been clear in a quantitative viewpoint. In this paper, we define clearly the sensitivity function in impulse response and step response graphically, and then present the relationship between...
Inverse kinematics solutions for multi-DOF arms can be classified as analytical or numerical. In general, analytical solutions are preferable to numerical solutions because analytical ones yield complete solutions and are computationally fast and reliable. However, analytical closed-form solutions for inverse kinematics of 6-DOF arms rarely exist for real-time control purposes of fast moving arms...
A hydraulic actuation system for a tilting train is usually composed of independent actuators to remove position errors due to bulk modulus of the hydraulic system. For the hydraulic control system using two independent cylinders, this paper presents the modeling of the hydraulic system, control logic, and simulation results of the hydraulic control system. Simulation results for motion responses...
The way in which the forces are transmitted in the rolling contact between wheels and rails of rolling stocks is complex and highly nonlinear, and understanding of braking mechanism has a crucial role for the safety and efficiency of railroad vehicle operations. This paper proposes a real-time simulation unit, that is, a HILS system, which is able to analyze braking performance of railroad vehicles...
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