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This paper proposes a long travel range electromagnetically actuated positioning stage with application to micro machining. Specially, a probe with titanium coating is integrated with an electromagnetically actuated and damped positioning stage to perform millimeter range movement. Here, the developed stage replaces traditional piezoelectric actuators for the purpose of lengthening the motion range...
This paper proposes a nonlinear speed controller for an interior permanent magnet synchronous motor (IPMSM) drive system. First, the input-output feedback linearization control is used to derive a linearized model including load torque variations and lumped parameter uncertainties. In order to reduce the influence of load torque disturbances on the linearized model, an external load torque estimator...
This paper proposes a novel high precision planar electromagnetic-actuated positioning stage. The movable part of the stage is suspended by a monolithic parallel flexure mechanism, which motion comes from the deformation of the structure itself. A linear electromagnetic actuator which consists of a near-uniform magnetic field and four coils is designed and implementation to provide the propelling...
This study proposes a synthetic control strategy for the reconstruction and rejection of mismatched and matched unknown disturbances. For a nonlinear scalar system, a nonlinear proportional-integral (PI) control is developed for dealing with matched disturbances. Next, a 2nd order system subjected to both matched and mismatched disturbances is considered. By incorporating the idea of backstepping...
The control problem of coordinated motion of free-floating dual-arm space robot with external disturbance is discussed. Combined the linear momentum conversation and the Lagrangian approach, the full-controlled dynamic equations of free-floating space robot with dual-arms is established and then inverted to the state equation for control design. Based on the terminal sliding mode control (SMC) technique,...
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