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High-precision scan stages are used for fabrication of integrated circuits, liquid crystal displays and so on. To fabricate such precise devices, not only stages position but also stages attitude needs to be controlled rapidly and precisely. In this paper, an experimental 6-degree-of-freedom (6-DOF) high-precision stage with a novel 6-DOF air bearing called “gravity canceller” is designed and fabricated...
Body slip angle is one of the most important information for vehicle motion control; as specific sensors for body slip angle measurement are expensive, it is necessary to investigate estimation methods using existing popular sensors such as gyro sensor, encoder, camera, etc. For EV (electric vehicle), in particular, the motor response is several milliseconds which enables high performance control...
This paper presents a method for using lateral tire force sensors to estimate vehicle sideslip angle and to improve vehicle stability of in-wheel-motor-driven electric vehicles (IWM-EVs). Considering that the vehicle motion is governed by tire forces, lateral tire force measurements give practical benefits in estimation and motion control. To estimate the vehicle sideslip angle, a state observer derived...
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