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This paper investigate on motion synchronization of multiple axes systems. Two different control strategies, a cross-coupling controller in feedback loop and an adaptive controller, were used to synthesize the synchronization compensator with the cross-coupling dynamics among the axes. By using these strategies, the asymptotic convergence of both tracking and synchronization errors are achieved. The...
This paper proposes model reference adaptive control (MRAC) for an integrated design of a voice coil motor and flexure mechanism to achieve a high-precision position. Based on the continuous deformation property of the flexure mechanism, the positioning system possesses linear motional characteristics without influence from the nonlinear phenomena of backlash and friction. MRAC controller design is...
A composite tracking control scheme, consisting of an adaptive friction estimation and a robust controller, is proposed for a robot manipulator to achieve a tracking control objective under the influence of unknown friction and uncertainty. The adaptive friction estimation is used to estimate the extent of friction, which includes Coulomb friction, viscous friction and the Stribeck effect, and then...
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