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High performance interior permanent magnet synchronous machines show nonlinear magnetics due to saturation and cross-coupling. Nonlinear differential equations describe these phenomena and make feedback control challenging. This paper presents a predictive control method to precisely control the dynamics of these machines. Four real-time capable strategies to online identify transient trajectories...
This paper investigates feasibility of using a flywheel based energy recovery and storage system for a robotic manipulator. The incentive is supported by ever growing necessity for efficient systems and optimisation of power consumption of industrial processes. Previous work has shown that robotic manipulators can benefit from incorporation of energy recovery and temporary energy storage system which...
In this paper, a new adaptive controller is proposed for ultra-local model based control. The concept is based on the algebraic derivation techniques to estimate the two ultra-local model parameters. A comparison study with the control method of Fliess-Join which is based on some elementary differential algebra is developed. The robustness of the ultra-local model controllers with respect to noises,...
MMC Passivity-based PI Controller: A novel nonlinear global tracking controller was proposed by extending the regulation case. It consists in a linear PI that regulates two constructed signals with respect to which the incremental model of the MMC becomes passive. Estimation of xk: A closed-loop estimator was proposed to estimate the MMC variables in steady state needed as input for the non-linear...
This paper describes a 3D reference trajectory generation and tracking control method for a quadcopter. The flying trajectory is a piecewise curve that passes through viapoints at specified times or speeds and has constant acceleration within each interval. The path is first represented as the third degree polynomials, and to overcome demerits of the C-splines, a numeric algorithm is suggested and...
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