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In this paper, the observability in BOT problem is analyzed and defined in form of leg by leg, the basic relationship between observability and the number of particles is opened out, and a fast particle filter with variable number of particles which calculated by this relationship is proposed to adopt the observability in BOT to save the computation resource. The simulation results show that the definition...
In view of improving control capability, a current controller of the permanent magnet spherical stepper motor was designed in this paper. Adaptive and switching control algorithms assured the rotor to drive mechanical loads following the continuous path motion and alleviating the tracking errors. Current-tracking PWM technology was applied in the controller. Simulation and experiment results show...
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