相关论文: Sensorless position estimation of Permanent-Magnet…
The Mixed convention/braking Actuation Mobile Robot (MAMR) was designed to tackle some of the drawbacks of conventional mobile robots such as losing controllability due to primary actuator failures, mechanical complexity, weight, and cost.…
This paper designs a servo control system based on sliding mode control for the shape control of elastic objects. In order to solve the effect of non-smooth and asymmetric control saturation, a Gaussian-based continuous differentiable…
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial parameters are obtained from CAD models that are not…
Alternating current (AC) electrical drive control without mechanical sensors is an active research topic. This paper studies the observability of both induction machine and synchronous machine sensorless drives. Observer-based sensorless…
We report an extensive numerical study of the small-scale turbulent dynamo at large magnetic Prandtl numbers Pm. A Pm scan is given for the model case of low-Reynolds-number turbulence. We concentrate on three topics: magnetic-energy…
Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and…
This paper proposes a new class of permanent magnet-assisted three-phase switched reluctance motors (PM-SRMs) designed to achieve significantly higher torque density for electric vehicle (EV) propulsion systems. Eight distinct motor…
Accurately modeling robot dynamics is crucial to safe and efficient motion control. In this paper, we develop and apply an iterative learning semi-parametric model, with a neural network, to the task of autonomous racing with a Model…
We demonstrate experimentally that reflectionless scattering modes (RSMs), a generalized version of coherent perfect absorption, can be functionalized to perform reflectionless programmable signal routing. We achieve versatile…
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…
This paper describes a calibration algorithm to simultaneously calibrate a magnetometer and an accelerometer without any information besides the sensors readings. Using a linear sensor model and maximum likelihood cost, the algorithm is…
This paper addresses the stability analysis and state estimation of generalized Persidskii systems subject to time-varying delays and external disturbances. The generalized Persidskii class, which couples linear dynamics with sector-bounded…
We present a machine-learning strategy for finite element analysis of solid mechanics wherein we replace complex portions of a computational domain with a data-driven surrogate. In the proposed strategy, we decompose a computational domain…
Given a set of samples, a few of them being possibly saturated, we propose an efficient algorithm in order to cancel saturation while reconstructing band-limited signals. Our method satisfies a minimum-loss constraint and relies on…
Most of the existing mobile robot localization solutions are either heavily dependent on pre-installed infrastructures or having difficulty working in highly repetitive environments which do not have sufficient unique features. To address…
Magneto-inductive navigation is an inexpensive and easily deployable solution to many of today's navigation problems. By utilizing very low frequency magnetic fields, magneto-inductive technology circumvents the problems with attenuation…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
Smartphones have become a popular tool for indoor localization and position estimation of users. Existing solutions mainly employ Wi-Fi, RFID, and magnetic sensing techniques to track movements in crowded venues. These are highly sensitive…
This paper introduces a novel model-free approach to synthesize virtual sensors for the estimation of dynamical quantities that are unmeasurable at runtime but are available for design purposes on test benches. After collecting a dataset of…
The objective of this research is to mitigate vibrations in induction motors. To achieve this goal, a discontinuous pulse width modulation (PWM) control strategy based on carrier wave modulation is proposed for multilevel inverters. This…