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Automation of polishing process requires control of tool pressure and tool speed. Due to friction between the tool and the part, the tool speed is affected when the tool pressure is changed, and this coupling relationship is nonlinear. In this paper, a linearized model is presented for control of automated polishing process. To do so, first, the contact stress model is introduced based on a Hertzian...
In this paper, an adaptive motion/force controller is developed for bilateral teleoperation systems. Design of an output feedback model reference adaptive controller (MRAC) at the remote site improves the position/velocity response with stability guarantee and a similar controller at the master site enhances the force tracking as the transmission time delay varies
In this paper we build on previous work by the authors on spacecraft formation motion design for fuel-image optimality by Hussein, Scheeres and Hyland (2005). Previous results indicate a tradeoff between image quality and fuel expenditure by I. I. Hussein et al. (2005). In this paper we state results relating image quality to the trajectory of a sparse system of TV telescopes. This relationship is...
This paper proposes a novel iterative tuning algorithm for achieving velocity control of a two-mass torsional motor system with uncertain parameters. The command generator tracking (CGT) theory is used to establish a direct relationship between the physical model parameters of the system and the feedforward parameters of a special 2DOF controller. This relationship enables the controller to be tuned...
The paper presents a novel dynamic maximum photovoltaic (PV) power tracking controller using an error driven, error scaled self-adjusting sliding mode controller for maximum PV energy utilization in a low cost stand-alone photovoltaic resort/village electric energy supply scheme. The novel dynamic controller utilizes motor speed trajectory tracking loop with additional dynamic photovoltaic power tracking...
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