The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper, we present selected benchmark aerial manipulation tasks using an aerial vehicle endowed with multi-degree of freedom manipulators. The proposed tasks analyze environmental coupling and are broken into three general categories: momentary, loose, and strong coupling. A classical control structure is derived, tuned, and verified through experiments, conducted for benchmarking purposes...
To the optical mechanical complexes of tracking and positioning, strict requirements are produced on the dynamics and permissible errors under such conditions as external and internal nonstationary disturbances, as well as presence of elastic deformations in the links of the driven mechanism. In modern systems, adaptive control algorithms have proven themselves as complementary to the main control...
This paper presents a method to improve the robustness of the position control of a small permanent magnet within a living organism, such as the human body in micro-surgery. So far, position control has been achieved up to 5 Degrees of Freedom with robustness against model uncertainties. In order to achieve robust control against non predicted disturbances, this paper uses a disturbance observer (DOB)...
Quad-rotor Micro Aerial Vehicle (MAV) is a multi-rotor MAV with 4 propellers which propel the MAV up to the air and move around. It has high maneuverability to move around, such as roll, pitch and yaw movements. However, line of sight and radio control effective range are the major limitation for the MAVs which significantly shorten the travel distance. Therefore, we proposed a waypoint navigation...
Recent advances in robotics have led to the development of exoskeleton robots that are becoming extensively used in the medical domain, to assist and help people suffering from physical impairments recover mobility. Most of existing controllers designed for position control of exoskeleton robots are linear which may not be suitable for exoskeleton robots having complex structures under heavy uncertainties...
This paper provides a sensorless method to control the position of keys passing through a linear actuator used in an industrial textile machine. The presented method describes how to find out the position of the key using two cascading discrete Kalman filters, the first for filtering the speed and the second for filtering the impedance measurement in other to retrieve the position. Due to the thickness...
A user friendly automation system is developed and integrated with a servo press control system for position data processing and generation. Providing connection between controller and driver, the new motion generation that has capability of industrial motion produce for different strokes is designed. Three feed-forward input parameters; position, velocity and acceleration data are applied for enhancing...
Ball and beam control system is specially designed to study nonlinear control methodology on an unstable system. The point of the ball is hard to manage because it will move continuously on a beam, makes it becoming open-loop unstable. PID controller had been successfully applied for this application by previous researchers. However, incorporation of fuzzy in the system to facilitate PID tuning could...
In the present paper, we study the orientation control of tree-shaped strings network by the approach feedforward control. First, we design a new controller through the dynamics condition of objective network to stabilize the boundary node a2, a3, as and have no effect the other part of network. Furthermore, the convergence of network system continue to be discussed under some control strategy when...
This paper presents an application of the Tensor Product-based model transformation to the real-time position control of magnetic levitation systems. Three cases that depend on the number of singular values are presented. All case studies are validated by experiments conducted related to the sphere position control of a laboratory magnetic levitation system.
Among aging populations, tremors are becoming an ever greater barrier to autonomy. The purpose of this study is to design a tremor suppressing robotic system for the human arm. This system is designed to be linked to the back of the user's hand using a magnetic link, preventing the user from being hurt should the system be subject to malfunction. The presented control law consists of a velocity-force...
Variations of a center of gravity (COG) and mass make difficulties for control of quadrotors. For example, there are situations such as flight with swing load or with sloshing fuel. These problems leave room for uncertainties in the attitude and position control systems. To mitigate the above-mentioned effects, effective control algorithm must be developed based on modified dynamics of the quadrotors...
Recently in Japan, increase in necessity of nursing care with elderly society has been problematic. Transfer task of a person in need of nursing care is one of the heavy load for care-worker. Additionally, the problem of the privacy protection for the disability in the private space such as a toilet and bath is a serious issue. Therefore, the aim of this research is to develop the transfer support...
This paper presents the design and implementation of a position controller for a rotary platform driven by a DC motor through state feedback. The main objective in this development is to make an electromechanical system and position control for a rotary platform using a 12 volts DC motor with quadrature encoder. The design and development stages were executed using computational tools such as Matlab...
This paper deals with the implementation of the Linear Quadratic Gaussian (LQG) with an Extended Kalman Filter (EKF) for the position control of a PMDC motor. LQG is a popularly used linear optimal control technique in literature. However, the direct implementation of LQG with the use of the Kalman Filter as the optimal estimator is incapable of adapting to changes in the system parameters which results...
This paper deals with the synthesis, design, and comparison of robust H-infinity (H∞) and RST position controllers of Piezoelectric Actuator Drive (PAD). The PAD is an accurate rotary piezoelectric motor that employs the elongation of stack actuators, the micro-toothed ring and the shaft to generate rotation motion. The motor position depends on precise adjustment between motor ring and shaft and...
In this paper, we propose an off-line tuning method of a vibration suppression controller for a 2-mass position control system using Fictitious Reference Iterative Tuning (FRIT), which is one of direct controller tuning methods. Hence, we are able to design the controller using only initial experimental data without the state equations of the model and those parameters. The controller consists of...
The paper describes the process of creating of BLDC's digital control system. The BLDC has no speed sensor, so back-EMF method is used for commutation control. Authors show how to model the control system in MatLab/Simulink and to test it onboard STM32F4 microcontroller.
This paper aims to design a hybrid PD-Fuzzy position controller for high performance linear switched reluctance motor (LSRM). The mathematical model of LSRM is developed and simulated by Matlab/Simulink package. The essential feature of the proposed hybrid PD-Fuzzy controller is to use a PD controller only for coarse position error, then for fine position error LSRM position control is done using...
This paper studies position control of a linear induction motor drive using three cascaded sliding mode controllers. First, the indirect field oriented control of the LIMs is derived, and then cascaded sliding mode controllers design for indirect field oriented control is applied to compensate the uncertainties, which occur with conventional control techniques. The performance of the LIM drive is...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.