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We provide Lyapunov-based control laws that stabilize relative equilibria in a model consisting of particles that travel on the surface of a rotating sphere in a time-invariant flowfield. These control laws are of interest because they have applications in planetary-scale mobile sensing networks in air and sea. A rotating sphere is introduced so that the particles are subject to the Coriolis effect...
This paper focuses on adaptive velocity compensation along state axis aiming at dent and friction force ripples using parameterized iterative learning control (ILC) for permanent magnet linear synchronous motor (PMLSM) executing same control instruction repeatedly. Velocity ripples are primarily attributed to periodic disturbances such as dent force and the gliding friction in PMLSM. The dent force...
An adaptive friction compensator is proposed using the generalized Maxwell-slip (GMS) friction model, with a new, linearly-parameterized Stribeck function. It employs a polynomial equation that is linear-in-the-parameter to describe the nonlinear Stribeck effect in the GMS model, and simplifies the design of an adaptive friction compensator. The proposed compensator has a switching structure to accommodate...
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