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A cost-efficient way to achieve high-accuracy motion control is the utilization of complex control algorithms. Hence advanced motion control constitutes a class of real-time applications, for which the technical feasibility strongly depends on the achievable execution performance on the embedded processing platform. The presented modular controller structure defines a set of advanced control algorithms...
In the harbor area, precise steering is the most important operation. This operation requires a set of adequate thrust devices with exactly taken into account surge, sway and yaw motions. However, at low speed maneuvering, the effectiveness of actuators is nominal, thus using assistance of tugboat is necessary to ensure safe berthing operation. In this paper, the mathematical model of system that...
Understanding the mechanisms which the brain uses to control body movements have been important in the both fields of robotics and neuroscience. Recent neuroscience studies have shown that humans can acquire a neural representation of the relation between motor command and movement, i.e., learn an internal model of the environment dynamics. In this paper, we investigate motor adaptation of human arm...
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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