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A study of one-dimensional position control of a light iron ball levitated by one electromagnet is proposed in this work. The vertical position of the ball is the target of the proposed control strategy. It is assumed that the position measurement of the ball is inaccessible and thus, estimates of the position are utilized as the feedback signal to the controller. Control of the ball's position is...
This paper puts forward a novel position controller based on active-disturbance rejection controller (ADRC) theory to ensure high dynamic performance of magnet synchronous motor (PMSM) servo system. By using the extended state observer (ESO), the position controller can accurately estimate the derivative signals and precise decoupling of PMSM is achieved. In addition, the proposed strategy realizes...
In this study, interval type2 fuzzy logic (IT2FL) and PID controller is designed for swing-up position control of double inverted pendulum (DIP) system. The double inverted pendulum system consists of two rigid bars connected by a revolute joint. Mass of the revolute joint is included in the dynamic model.Rigid bars in the system are assumed to experience planar motion. The pendulum system is connected...
Aiming at wide variations in loads and moment of inertia, large disturbed moment of a rocket launcher position servo system, a backstepping and sliding mode cascaded compound control method was present. The sliding mode variable structure controller of velocity loop and the backstepping controller of position loop were designed. The sliding mode control can restrain effects of parameter uncertainties...
This paper presents a novel approach to on-line, robot-motion planning for multiple moving-objects interception with constant acceleration. The position, velocity and acceleration of the free particles TFL are used as a kinematic information to generate the multiple interception trajectory TFP. The polynomial interpolation technique is implemented in a 2 dof robot with an operational space control...
Traditionally automotive powertrain research and development have been conducted with electromagnetic dynamometers. The ever increasing demand for reducing fuel consumption and emissions has driven the innovation of new technologies in engines, transmissions, and hybrid systems, which in turn requires significant flexibilities and transient capabilities of the dynamometer. Given its superior power...
This paper presents the mathematical modeling of an electromagnetic actuator and a low-cost position control solution. The first principle nonlinear model is linearized around several points of the input-output static map of the controlled process. The main properties of the linearized models are analyzed and used in the frequency domain design of a PID control solution. Two digital simulation scenarios...
In this paper, sliding mode control method is studied for controlling DC motor because of its robustness against model uncertainties and external disturbances, and also its ability in controlling nonlinear and MIMO systems. In this method, using high control gain to overcome uncertainties lead to occur chattering phenomena in control law which can excite unmodeled dynamics and maybe harm the plant...
The proposal of this paper is demonstrating the simplicity to develop a real control position action over a platform on mobile vehicle using two different discrete controllers. The mechanical structure is depicted and the range of work operation. The characterization is based on an accelerometer in the X axis. The mathematical analysis of these controllers, classic control discrete PID and the second...
Aqua is an underwater biomimetic vehicle designed and built at McGill University that uses six paddles to produce control and propulsion forces. It has the particularity of having time-periodic thrust due to its oscillating paddles. Using an existing dynamics model of the vehicle and a numerical simulation, three types of controllers were developed to provide trajectory tracking capabilities to the...
A control scheme of ANN-based PID controller is developed here to reach high precision tracking control for an electro-hydraulic servo system. The PID controller is used as a feedback controller to guarantee the system stability. The cerebellar model articulation controller (CMAC) neural network is used as a feed-forward compensator to identify the inverse system dynamics model. The CMAC and the PID...
Magnetic levitated carrier system was developed for the transportation systems. It is contact-free type; it can eliminate mechanical components (e.g. gears, guide, ball bearings), reduce the mechanical alignment and maintenance cost, satisfy environmental demand, and enable the carrier to travel at high speed with high precision and acceleration. In this paper, the investigation, design, simulation...
This paper applied a new concept of a nonlinear model reference PID controller for a planar robot arm. The controller consists of two second order differential equations, each in terms of the angle error of a single joint from the designed trajectory. The coefficients of each differential equation are specifiable giving the ability to specify the behavior of the robot. Simulations are presented that...
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