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A Novel model reference adaptive system (MRAS) based speed estimation technique is presented in this paper. The speed estimator utilizes instantaneous and steady state values of V⃗* × I⃗ in the reference and adjustable models of the MRAS respectively. The major advantages of this method are: (i) flux estimation is not required and (ii) the method is stable in all the 4-quadrants of operation. The...
This paper reveals the advantage of the biarticular muscle which has been said to play an important role in human's motion control and applies it to the robot manipulator control. Biarticular muscle changes the energy flow in muscles resulting in efficient motion and help stabilizing the posture of the human body. These advantages are analyzed and reflected to the control of a robot manipulator. In...
This paper suggests two advantages of the biarticular muscle which has been said to play an important role in human's motion control; one is stiffness direction stabilization of an end effector which results in stabilization of the posture, and the other is inertia matrix diagonalization in the dynamics of a robot manipulator. In order to analyze these characteristics, we adopt three-pair six-muscle...
This paper suggests control algorithm for a robot manipulator which has biarticular muscle torque input in addition to the conventional two monoarticular muscle torques. Using a modified Jacobian matrix which is based on the absolute angle of two joints, we derive simple relationship between an endpoint force/position and three muscle torques. Based on this relationship a feedback controller is developed...
Control design of self-servo track writer (SSTW) has become an important issue in hard disk drive research. This paper discusses the error propagation problem in SSTW control. Although the iterative learning control (ILC) has been suggested as a solution to suppress the error propagation in SSTW, existing suggestions design controllers in the iteration domain requiring considerable computation and...
This paper proposes a novel algorithm to detect information of time delay and inertia errors of the nominal model in the disturbance observer. The proposed method adopts the hidden Markov model to relate the states causing disturbances with the observed disturbances. Output distribution of the hidden disturbance state can be defined based on the relationship between the observed disturbance and time...
In this paper, we develop a new trajectory generation for seek control of hard disk drives to minimize energy consumption. A seek time is given by just-in-time method. Just-in-time method can provide some potential for energy efficient seek control by variable seek time. Additionally, regarding constant disturbance, we compare two cases. One is the case with compensating disturbance and another is...
For effective implementation of observer for vehicle body slip angle (beta) estimation in electric vehicle stability control, an empirical tire model with fuzzy logic approach is proposed, in which a local linearization approximation of the nonlinear tire model is adopted. Tire model parameters of front and rear tires cornering stiffness are identified based on the real vehicle experiments. Based...
A hybrid-like observer for vehicle body slip angle (beta) is proposed, in which a local approximation of the nonlinear tire model is adopted. Local equivalent vehicle models for observer design are built by linear approximation of vehicle dynamics respectively for low and high lateral acceleration operating regimes. Fuzzy logic approach is adopted to combine the local observer models so as to deal...
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