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This paper deals with the modeling, identification and control of the Pierburg mechatronic actuator. This actuator is used in the BMW M57 diesel engine to control all the air which are charged and entered in the vehicle engine. The actuator static characteristics are exploited to model the system dynamics. Then, the obtained model from the identification procedure is used to design a nonlinear control...
Traditionally, the sensor design for Inertial Sensing of Human movement/posture is done using an accelerometer-gyroscope combination while detection of static or dynamic activities is done using uniaxial accelerometers. A single axis accelerometer-gyroscope combination uses sensor fusion along with a Kalman Filter to estimate the inclination. The inclination is obtained by integrating angular velocity...
In this paper, we present an overall study focused on the modeling, identification and control of the Pierburg mechatronic actuator. This actuator is used in the BMW M57 diesel engine to control all the air which are charged and entered in the vehicle engine. The obtained model from the identification procedure is sufficiently closer to the practical actuator behavior and captures most of its characteristics...
This paper describes a hybrid approach to the problem of controlling flexible link manipulators in the face of both structured and unstructured uncertainties. First, a nonlinear controller based on the equations of motion of the robot is elaborated. Its aim is to produce a stable control. Then, an adaptive RBF neural controller is implemented to compensate structured and unstructured uncertainties...
This paper considers a linear control design of separately excited DC motor system (SEDCM) operated in the field weakening high speed regime. Nonlinear multiple input - multiple output (MIMO) feedback linearization is applied and a linear controller schema is proposed. It is shown that very good control performances can be obtained with the classical PI cascaded linear controllers in conjunction with...
In this paper, a nonlinear control has been developed for a permanent magnet synchronous motor (PMSM), in order to perform tasks with minimal execution time. This control method takes in consideration the PMSM limitations' constraints: stator's current must be within the safety specifications. PMSM's nonlinear model is proposed. Nonlinear control methods have been developed for the various states...
This paper describes a hybrid approach to the problem of controlling flexible link manipulators in the face of both structured and unstructured uncertainties. First, a nonlinear controller based on the equations of motion of the robot is elaborated. Its aim is to produce a stable control. Then, an adaptive CMAC neural controller is implemented to compensate structured and unstructured uncertainties...
In this paper, we propose a control algorithm for stabilizing of an unmanned bicycle at zero speed by using a nonlinear control based on an output-zeroing controller. The simplified model of the bicycle with the balancer is derived from Lagrangian and nonholonomic constraints with respect to translation and rotation relative to the ground plane. We derived a controller using a steering torque and...
In this paper, we propose a control algorithm for trajectory tracking control with self balancing of unmanned bicycle by using nonlinear control based on the output-zeroing controller. The simplified model of the bicycle with the balancer is derived from Lagrangian and nonholonomic constraints with respect to translation and rotation relative to the ground plane. We derived a controller using a steering...
Since unmanned bike robots have high mobility and do not require wide contact space to the ground, it is expected that they will be used as one kind of the robots working in disaster areas and/or in the mountains. We are developing one of the unmanned bike robot systems with a balancer and it can do a wheelie and move to track the path in the ground plane. In this paper, we propose a control strategy...
In this paper, An improved adaptive inverse control strategy is presented for system permanent magnet synchronous motors drive system. The reference signal and the disturbance signal are controlled, which can achieve optimal effect in the meantime. Applying adaptive IMS algorithm based on variable step and variable region to variable frequency speed regulation system, the initial convergence rate,...
We call such a model consists of two rigid rods connected by a frictionless hinge at the hip, a compass-like model. In this paper, we consider a compass-like model in order to analyze biped robot motion. We are trying to control gait of the model, by inputing torque to the hinge of the hip, and show that the maximal torque input can be reduced by using a mechanism to constrain the angle of the hip...
Control of an advanced high-speed flywheel energy storage system (FESS) based on a high-speed surface mount permanent magnet synchronous machine (PMSM) is explored in this paper. A PWM inverter/rectifier controls the bi-directional flow of energy for charging and discharging the flywheel. During charging, an inner current loop controller and an outer speed loop controller regulate the system performance...
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