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Mobility of a hexarotor UAV in its standard configuration is limited, since all the propeller force vectors are parallel and they achieve only 4-DoF actuation, similar, e.g., to quadrotors. As a consequence, the hexarotor pose cannot track an arbitrary trajectory while the center of mass is tracking a position trajectory. In this paper, we consider a different hexarotor architecture where propellers...
In this paper, we propose a novel design of compliant safe joint, which has flexibility when the work load exceeds a predefined threshold. The compliance is generated by a spring. We design a special transmission mechanism to convert axial motion into circumferential motion such that the linear compliance can be converted into circular one. When the end-effector of a surgical robot actuated by the...
An increasing number of robotic systems are using compliant actuators in which springs are placed in series with the actuator. The need for identification procedures tailored to these systems is consequently rising. When measurements of both the link side and the motor side of the spring are available the dynamic parameters can be identified independent of the spring model. The excitation of the identification...
The prominent maneuverability of flapping flight is enabled by rapid and significant changes in aerodynamic forces, which is a result of surprisingly subtle and precise changes of wing kinematics. The high sensitivity of aerodynamic forces to wing kinematic changes demands precise and instantaneous control of the flapping wing trajectories, especially in the presence of various types of uncertainties...
Iron losses have a large share in the overall losses of high power density electrical machines operating as variable speed drives. Therefore, commonly used control strategies such as Maximum Torque per Ampere or Maximum Torque per Voltage aiming at minimizing the copper losses do not select the best direct- and quadrature currents to maximize the efficiency or minimize the overall losses at each operating...
This paper presents a new formulation for minimization of copper and iron losses in interior permanent magnet for the purpose of minimum loss control. Motor losses are formulated based on electromagnetic torque to total torque ratio resulting in simplified expression of minimal loss condition which can be easily solved online. The flux-weakening method which adjusts electromagnetic to total torque...
Tracking an angular position trajectory of a mass attached to the free end of a motor shaft with large torsional flexibility is considered. The dynamical model of this plant is an example of a nonlinear system which does not admit a retarded state representation, but only a so-called neutral one. It is a connection of a nonlinear system without delays, the PM stepper motor, and a linear delay system,...
This paper deals with the control of a two-degree-of-freedom, laboratory-scale helicopter-like system (termed the toycopter), where the aerodynamic force is manipulated using the propeller speed. This system can be shown not to be flat and thus classical linearization techniques cannot be applied. However, a low-order flat system can be obtained by (i) using a high-gain feedback with suitable proportional...
A novel formulation of linear model-based predictive control is presented. Predicted flat output trajectories and stabilization around these trajectories constitute the main components of our predictive control approach. A simple dc motor and a cement mill model illustrate the principal features of the method.
In this paper an optimal trajectory planning problem for industrial multi-link robots is considered. Using a cubic polynomial joint interpolation scheme, a minimum time trajectory under torque constraints is planned via a global optimization algorithm proposed by the authors. This proposed optimization method takes into account a rigid-link full dynamics model. Numerical results for a two-link arm,...
The purpose of this paper is to present a new methodology to control current-fed induction motor. This approach results from a combination of the differential flatness properties and the monovariable Generalized Predictive Control with Multiple Reference Model (GPC/MRM) algorithm. The chosen outputs: the rotor speed and the square of the rotor flux modulus, with respect to the motor modeling, lead...
A control scheme based on the singular perturbations methodology and the sliding mode technique is designed for a permanent magnet (PM) stepper motor. The control scheme designed allows the angular velocity and position of the motor to track some given reference trajectories and it is based on the reconstruction of those signals from direct measurements of the stator currents and stator voltages....
In this work a fixed one step ahead predictive control has been applied to control angular position and linear velocity of an electrical wheelchair. The purpose of such as controller is to assist wheelchair users providing an easier and safer navigation. In addition the importance of this type of control is its effect by operation of the feedforward path to follow in the future, on the other hand,...
The hybridization of batteries and super-capacitors (SCs) is prevalent in the study of electrical powered vehicles. SCs, having high specific power, are able to afford large amount of energy in a short period, and thus have been used to satisfy transient load power demands and capture the braking power. In this paper, the SC, also able to afford large number of charge/discharge cycles, is used to...
In this paper the optimal nonlinear predictive control in cascaded structure design of induction motors is presented which provides global asymptotic tracking of smooth speed and flux trajectories. The controller is based on a finite horizon continuous time minimization of nonlinear predicted tracking errors. With full state measurement assumption, the robustness properties with respect to electrical...
This work proposes to amalgamate the Fuzzy Q learning (FQL) with Lyapunov theory based control resulting in a controller with guaranteed stability for dynamic trajectory tracking control of robotic manipulators. FQL algorithm combines reinforcement learning (RL) approach with fuzzy modeling; however, it fails to address the stability issue of the designed controller. Proposed approach is specifically...
High performance interior permanent magnet synchronous machines show nonlinear magnetics due to saturation and cross-coupling. Nonlinear differential equations describe these phenomena and make feedback control challenging. This paper presents a predictive control method to precisely control the dynamics of these machines. Four real-time capable strategies to online identify transient trajectories...
This paper investigates feasibility of using a flywheel based energy recovery and storage system for a robotic manipulator. The incentive is supported by ever growing necessity for efficient systems and optimisation of power consumption of industrial processes. Previous work has shown that robotic manipulators can benefit from incorporation of energy recovery and temporary energy storage system which...
This paper investigates the modelling and control of step traversal using a two-wheeled robot (TWR). The traversal of TWRs over steps and other uneven terrain requires large platform tilt angles to adjust the centre of mass. This process is highly nonlinear, which complicates the controller design process. An auxiliary reaction wheel actuator is used in a novel way to facilitate step traversal. A...
This paper investigates the motion control for a nonholonomic mobile manipulator with the objective of simultaneously controlling the velocity of the mobile base and the motion of the end-effector. Both the reference velocity for the mobile base and the reference trajectory for the end-effector are specified in the task-space. A steering velocity is designed based on the steering system of the mobile...
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