Related papers: Sensorless position estimation of Permanent-Magnet…
This paper develops a provably stable sensor-driven controller for path-following applications of robots with unicycle kinematics, one specific class of which is the wheeled mobile robot (WMR). The sensor measurement is converted to a…
This paper studies the local observability of synchronous machines using a unified approach. Recently, motion sensorless control of electrical drives has gained high interest. The main challenge for such a technology is the poor performance…
Rotor position feedback is required in many industrial and automotive applications, e.g. for field-oriented control of brushless motors. Traditionally, magnetic sensors, resolvers or optical encoders are used to measure the rotor position.…
Tensor train (TT) factorization and corresponding TT rank, which can well express the low-rankness and mode correlations of higher-order tensors, have attracted much attention in recent years. However, TT factorization based methods are…
Synthetic Magnetic Resonance (MR) imaging predicts images at new design parameter settings from a few observed MR scans. Model-based methods, that use both the physical and statistical properties underlying the MR signal and its…
Tendon-sheath-driven manipulators (TSM) are widely used in minimally invasive surgical systems due to their long, thin shape, flexibility, and compliance making them easily steerable in narrow or tortuous environments. Many commercial…
Today, interest in automotive applications notably Hybrid Electric Vehicles (HEV) has risen due to environmental concerns and the modern society's energetic dependence. Consequently, it is necessary to study and implement in these vehicle…
Transcranial magnetic stimulation (TMS) is a noninvasive medical procedure that can modulate brain activity, and it is widely used in neuroscience and neurology research. Compared to manual operators, robots may improve the outcome of TMS…
Model Predictive Static Programming (MPSP) was always used under the assumption of continuous control, which impedes it for applications with bang-off-bang control directly. In this paper, MPSP is employed for the first time as a guidance…
The problem of designing a stabilizing feedback controller in the presence of saturating actuators and multi-rate (asynchronous) aperiodic state measurements is studied. Specifically, we consider a scenario in which measurements of the…
Precise magnetic field modeling is fundamental to the closed-loop control of electromagnetic navigation systems (eMNS) and the analytical Multipole Expansion Model (MPEM) is the current standard. However, the MPEM relies on strict physical…
This paper presents a novel digital control strategy successfully implemented for a soft magnetic material characterization bench (Epstein frame type). The main objective is to control the magnetic induction waveform whatever the applied…
Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection and control of external forces and torques without the need…
This paper proposes a DC microgrid state estimation and sensor placement method based on compressive sensing. Formulations of various types of measurements and components are developed under the proposed framework. A measurement placing…
Stability of power networks is an increasingly important topic because of the high penetration of renewable distributed generation units. This requires the development of advanced (typically model-based) techniques for the analysis and…
Dynamic systems with a large and non-smooth hysteresis in the feedforward channel challenge the design of feedback control since the instantaneous input gain is varying during the operation, in the worst case between zero and infinity.…
This paper presents development of an optimal feedback linearization control (OFLC) for interior permanent magnet (PM) synchronous machines operating in a non steady-sate operating point, i.e., varying torque and speed, to achieve precision…
Resonant electromagnetic actuators have been broadly used as vibration motors for mobile devices given their ability of generating relatively fast, strong, and controllable vibration force at a given resonant frequency. Mechanism of the…
Integration of intermittent renewable energy sources in modern power systems is increasing very fast. Replacement of synchronous generators with zero-to-low variable renewables substantially decreases the system inertia. In a large system,…
With advancement in design and analysis of electro-mechanical and electromagnetic devices, the modelling of magnetic saturation of a synchronous generator has emerged to be a subject of interest in number of publications. Most of the…