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In this paper, backstepping control techniques are presented for a mechanism dedicated to accurately reproduce the breathing-induced motion of a human lung tumour. A lung tumour mimic model should perform the same smooth motion as a real one in a human body during inhalation and exhalation. Therefore, a three-dimensional mechanism with three pneumatically driven axes has been developed and built up...
An approach for an adaptive position-dependent friction estimation for linear electromagnetic actuators with altered characteristics is proposed in this paper. The objective is to obtain a friction model that can be used to describe different stages of aging of magnetic actuators. It is compared to a classical Stribeck friction model by means of model fit, sensitivity, and parameter correlation. The...
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