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In this paper we design a control strategy for orientation coordination of multiple mobile robots system based on a nonlinear consensus algorithm. By using the nonlinear terms defined to indicate the orientation difference among neighbors, each robot control its own motion direction, and then all robots' orientations converge to the average of their initial values. A scheme of communication topology...
Vibration and noise are the fetters which restrict the development of switched reluctance motor drive; this paper presented a new rotor structure which mitigates motor's vibration and noise effectively. Based on the permeability theory, set holes on the rotor without filling materials in order to reduce the magnetic flux at the aligned position, further more, reduce the radial force amplitude from...
The magnetic circuit of switched reluctance motor (SRM) is seriously nonlinear because certain parts of the stator and rotor may go into magnetic saturation and the mutual inductance will be large when the motor works at two-phase excitation. These factors make the control of winds current very difficult. This paper analyzed the inductance of 8/6 SRMs including mutual inductance. Then a novel current...
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