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An extended state observer-based time-optimal control is proposed in this paper to achieve fast and precise point-to-point motions driven by a novel electromagnetic linear actuator. Working principle and characteristics of the actuator are analyzed. Total disturbance is estimated by an extended state observer, and the nonlinear system is compensated as a linear one. Time-optimal control is used to...
Two control approaches are presented to improve the energy efficiency of a robot which has to perform point-to-point motions during a fixed time interval. One is called Proximate Energy Optimal Servo (PEOS) and the other is called Energy-Optimal Model Predictive Control (EOMPC). The PEOS approach is based on the Proximate Time Optimal Servo (PTOS) control algorithm whose parameters are optimized in...
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