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This paper presents a trajectory tracking control design which provides the essential spatial-temporal feedback control capability for fixed-wing unmanned aerial vehicles (UAVs) to execute a time critical mission reliably. In this design, a kinematic trajectory tracking control law and a control gain selection method are developed to allow the control law to be implemented on a fixed-wing UAV based...
In this paper, an advanced control scheme for long primary double-sided linear induction motor (DSLIM) is introduced. Equivalent circuit of DSLIM with shielding structure is established, which is very convenient for motor parameter determination and closed loop control. In order to improving the dynamic response performance, the armature field oriented control strategy with stator current feedback...
Fast and accurate positioning and swing minimization of the containers and other loads in crane manipulation are demanding and in the same time conflicting tasks. For accurate positioning, the main problem is nonlinear friction compensation, especially in the low speed region. In this paper authors propose position controller realized as hybrid controller. It consists of the conventional linear state...
For magnetostrictive actuator (GMA) inherent hysteretic, a new real time hysteresis compensation method consisting of radial basis function neural network (RBF) feedforward and PID feedback controller is presented to achieve the position tracking control of GMA. Simulation results show the control strategy is effective for GMA hysteresis which is changed by the input signal, it can set up the hysteresis...
In this paper we propose a method for feedback controller synthesis using the concept of control autobisimulation function. Control autobisimulation function (CAF) is the analog of control Lyapunov function for approximate bisimulation. Approximate bisimulation has been used to establish robustness (in ℓ∞ sense) of execution trajectories of dynamical systems and hybrid systems, resulting in trajectory-based...
In this paper, the relation between servo control frequency and contour error is studied in a bi-axis CNC machine. The objective is to determine the effect of servo control frequency on the contouring accuracy thereby allowing a proper selection of this frequency depending upon the accuracy required. A mathematical analysis is first carried out using a commonly used dynamic model for a servomotor-driven...
In this paper, design and implementation of an intelligent disturbance weighting function for H∞-based precision positioning control system is presented for an AC motor drive X-Y table positioning mechanism. The system works with a robust feedback controlled, enhanced by an outer loop integral control. The objective is to achieve high tracking and contouring performances even in the presence of uncertainties...
This paper researches the precision horizontal machining center feeding permanent magnet synchronous servo system of NC (Numerical control) machine and its application in the background of “High-end CNC (Computer numerical control) machine tools and basic manufacturing equipment,” science and technology major project. As the PMSM (Permanent Magnet Synchronous Machine) servo system using traditional...
This paper addresses the problem of designing distributed feedback laws to fore the outputs of mobile robots to follow geometric paths while holding a desired formation pattern. The solution to formation problem, unfolds in two basic parts. Firstly, a path following control law based on Lyapunov and backstepping is designed out to drive each robot to its desired path regardless of the temporal speed...
System uses the ARM(Advanced RISC Machines) processor s3c2440 as the master chip. By means of getting the feedback commands from the host computer, the system can accomplish that the positioning uncertainty is less than 3um and the speed of positioning is fast. Through extensive experiments, we worked out the optimal motion curve for the system.
To the control system of the aero-camera's loading platform that used the linear motion actuator as the power unit, the present industrial control system applied conventional PID algorithms is unable to meet the need of fast response, high precise position control, whatever at a high speed or low speed. We presented a new control scheme by using the PMAC controller and accepting a modified PID control...
The unfalsified control is one type of model-free adaptive control. The control strategy enables one to design a controller that is consist with a performance objective and measured past input-output online data without plant models or assumptions on the plant. The theory works by eliminating candidate controllers that do not satisfy performance specification by evolving experimental data. The controller...
Forced dynamics control principles are used for position control of the drive employing linear permanent magnet synchronous motors with flexible coupling. The designed controller is of the cascade structure, comprising an inner speed control loop and an outer position control loop. Inner speed loop is based on feedback linearization and respects principles of vector control. Outer loops for moving...
This paper deals with the tracking control of robot manipulators. Proposed is a class of new SM-NPID-like tracking controllers consisting of a linear combination of the linear sliding mode control, proportional control, derivative control, nonlinear control shaped by a nonlinear function of position errors, linear integral control driven by differential feedback, and nonlinear integral control driven...
This paper considers the optimal tracking control (OTC) problem for MIMO systems affected by external disturbances based on stability degree constraint. The objective is to find an OTC, by which the cost function minimum and the state with the OTC having a higher mean-square convergence rate can be obtained. According to the special disturbance form, by supposing the Lagrange operator to solve the...
Servo axes with standard P/PI-cascade feedback controller provide insufficient damping of structural vibrations at machine tools. The axis performance can be improved significantly by state space control extensions that are now available for commercial machine tool control systems. The benefit of state space control extensions depend directly on the suitable state capturing in the machine structure...
In this paper, motion synchronization control of bilateral tele-operation system is investigated. Compared with previous passivity framework, the communication delays are assumed to be stochastic time-varying. By feedback linearization, the nonlinear dynamics of the tele-operation system is transformed into two linear sub-systems: local master/slave position control and delayed motion synchronization...
This paper suggests a novel reaction force control in a robot manipulator by position feedback, motivated by the analysis of human musculoskeletal system. First, we suggest an analogy between a muscle force characteristic and two-degree-of-freedom control input structure so that the complicated human muscle structure can be reflected in robot manipulator control: reaction force generated by the viscoelasticity...
In this paper, we propose observer-based variable structure control (VSC) in microstepping for permanent magnet stepper motors (PMSMs) without position feedback. The back-emfs of the currents dynamics are defined as the disturbance terms. The observers for the back-emf estimation are designed. The proposed observers are in the form of the high pass filter. Observer-based VSC is developed to guarantee...
This paper addresses the trajectory tracking control problem of a nonholonomic wheeled mobile robot in presence of modeling uncertainties. A trajectory tracking controller is proposed by combination of an adaptive feedback linearizing controller and an adaptive robust PID control law. A SPR-Lypunov stability analysis demonstrates that tracking errors and parameters estimation errors are globally uniformly...
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