Related papers: Sensorless rotor position estimation by PWM-induce…
This paper present new approach in robust indirect rotor field oriented (IRFOC) induction motor (IM) control. The introduction of new exponential reaching law (ERL) based sliding mode control (SMC) improve significantly the performances…
This manuscript introduces a passivity-based control methodology for fully-actuated mechanical systems with symmetric or asymmetric dead-zones. To this end, we find a smooth approximation of the inverse of the function that describes such a…
This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface.…
This paper presents a novel approach to vehicle positioning that operates without reliance on the global navigation satellite system (GNSS). Traditional GNSS approaches are vulnerable to interference in certain environments, rendering them…
In this work we solve the position-aided 3D navigation problem using a nonlinear estimation scheme. More precisely, we propose a nonlinear observer to estimate the full state of the vehicle (position, velocity, orientation and gyro bias)…
In this paper a detailed simulation of irradiated pixel sensors was used to investigate the effects of radiation damage on charge sharing and position determination. The simulation implements a model of radiation damage by including two…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
Non-ideal position estimation results in degraded performance of synchronous motor drive systems due to reduction of the average capability of the drive as well as torque harmonics of different orders. The signature and extent of the…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
We present an improved system for orbit and betatron phase measurement utilizing nonlinear models of BPM pickup response. We first describe the calculation of the BPM pickup signals as nonlinear functions of beam position using Green's…
Many real-world systems are governed by the time-dependent, nonlinear differential equations. Dynamics of an electrical system are also best described using the very equations. Being one of the preferred machines when using advanced control…
Switched Reluctance Motors (SRMs) are cost-effective electric actuators that utilize magnetic reluctance to generate torque, with torque ripple arising from unaccounted manufacturing defects in the rotor tooth geometry. This paper aims to…
Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, it remains challenging due to complex nonlinearities, oscillations, and direction-dependent,…
The increasing complexity of multirotor applications demands flight controllers that can accurately account for all forces acting on the vehicle. Conventional controllers model most aerodynamic and dynamic effects but often neglect…
Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to the presence of non-contact forces; namely, the inertial and…
Turbines are crucial to our energy infrastructure, and ensuring their bearings function with minimal friction while often supporting heavy loads is vital. Vibrations within a bearing can signal the presence of defects, friction, or…
We discuss several steady-state rotation and oscillation modes of the planar parametric rotator and pendulum with damping. We consider a general elliptic trajectory of the suspension point for both rotator and pendulum, for the latter at an…
Inertial sensors provide crucial feedback for control systems to determine motional status and make timely, automated decisions. Prior efforts tried to control the output of inertial sensors with acoustic signals. However, their approaches…
Polarization-encoded spin-photon interfaces constitute promising candidates for the development of stationary nodes used as photon receivers, for quantum communication and distributed quantum computing. Here we introduce a time-resolved…
We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as…