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In this paper we analyze stability properties of multi-agent control system in a cluttered environment with an artificial potential based on bell-shaped functions. In our approach attractive and repulsive forces created by potential gradient have the same form which allows definition of target formation that is parameter invariant. Due to the fact that agents are identical, the proposed structure...
Force control is required in many industrial tasks. In this paper, a robot controller is proposed which controls both the position and the force that act on the end-effector. The external force is computed with a force/torque estimator, and this estimation is presented as an update law to improve the system's performance. A Lyapunov function is defined to show the stability of the system and that...
Fractional calculus is a generalization of the integration and differentiation to the fractional (non-integer) order. In this paper, we devised a fractional-order periodic adaptive learning compensation (FO-PALC) method for cogging effect minimization for permanent magnetic synchronous motors (PMSM) position and velocity servo system. Cogging effect is a major disadvantage of PMSM. In fact, the cogging...
Cogging effect is a serious disadvantage of the permanent magnetic synchronous motor (PMSM), and cogging force is a position-dependent periodic disturbance. In our previous work [1], a dual high-order periodic adaptive learning compensation (DHO-PALC) method for state-dependent periodic disturbance was presented, where the long term stability issue was not addressed. Due to the impact of the high...
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