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A nonlinear position controller for permanent magnet synchronous motor (PMSM) was designed to achieve position tracing control and robust control. The controller included two parts: the model controller and the robust controller. The former was designed to ensure a desired reference output trajectory, and the later was devised to realize the robust control against PMSM parameter variations and load...
The contribution of this paper is the development of a nonlinear position controller for a quadrotor VTOL aircraft using feedback linearization with dynamic extension. The developed controller completely decouples and linearizes the nonlinear dynamical model of the aircraft. The use of dynamic extension has resulted into a fourteenth dimensional controller for the the twelve dimensional state system...
Thrust ripple such as side force, slot force and normal force is key factor which affects the properties of permanent magnet linear synchronous motors (PMLSM). Furthermore, model uncertainties and disturbances greatly affect the PMLSM's motion properties too. Side force was greatly decreased by optimizing the length of the PMLSM mover, and slot force caused by slot effect was greatly reduced by using...
We have previously developed a mobile robot position controller based on backstepping control algorithm. In this paper, we propose the extension of mentioned controller with an aim to rapidly decrease the control torques needed to achieve the desired position and orientation of mobile robot. The parameters of this controller are adjusted by genetic algorithm. The same genetic algorithm was used for...
This paper documents the development and experimental evaluation of a practical nonlinear position controller for a typical industrial pneumatic actuator that gives good performance for both regulating and reference tracking tasks. The system is comprised of a low-cost 5-port proportional valve with flow deadband and a double-rod actuator exhibiting significant friction. Quantitative feedback theory...
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