相关论文: Sensorless rotor position estimation by PWM-induce…
Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effector in order to measure the forces and torques exerted by the…
This paper proposes a practical implementation of sliding mode control (SMC) that utilizes partial modeling compensation. Sliding mode control is well known for its effectiveness as a model free control approach, however, its effectiveness…
Probing signal injection is a well-established technique to extract additional information from a weakly (or non) observable dynamical system. Using averaging theory, a framework to analyse such schemes for general nonlinear systems has…
For simulations where the forward and the inverse directions have a physics meaning, invertible neural networks are especially useful. A conditional INN can invert a detector simulation in terms of high-level observables, specifically for…
While positive-intrinsic-negative (PIN) diodes are commonly used in radio frequency (RF) circuits, their use often degrades the signal-to-noise ratio (SNR) due to high insertion loss and interference from additional biasing circuit…
In this paper a position-tracking controller for quadrotors based on perception feedback is developed, which directly uses measurements from onboard sensors such as low cost IMUs and GPS to generate the control commands without state…
Input current estimation is indispensable in the sensorless control algorithms for the problem of power factor compensation (PFC) of an AC-DC boost converter. The system estimator design is challenged by the bilinear form dynamics and…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
In this paper we address the problem of sensorless control of the 1-DOF magnetic levitation system. Assuming that only the current and the voltage are measurable, we design an adaptive state observer using the technique of signal injection.…
We study dynamics of an wheeled inverted pendulum under a proportional-integral-derivative controller on horizontal, inclined and soft surfaces. An oscillatory area and conditions of the stability for the control are shown on the phase…
Fast and accurate knowledge of power flows and power injections is needed for a variety of applications in the electric grid. Phasor measurement units (PMUs) can be used to directly compute them at high speeds; however, a large number of…
The performance of upper-limb prostheses is currently limited by the relatively poor functionality of unintuitive control schemes. This paper proposes to extract, from multichannel electromyographic signals (EMG), motor neuron spike trains…
This paper proposed a straightforward and efficient current control solution for induction machines employing deep symbolic regression (DSR). The proposed DSR-based control design offers a simple yet highly effective approach by creating an…
The number of electrified powertrains is ever increasing today towards a more sustainable future; thus, it is essential that unwanted failures are prevented, and a reliable operation is secured. Monitoring the internal temperatures of…
This paper proposes a non-invasive fault location method for modular multilevel converters (MMC) considering light load conditions. The prior-art fault location methods of the MMC are often developed and verified under full load conditions.…
We propose a parametric model of the saturated Permanent-Magnet Synchronous Motor (PMSM) together with an estimation method of the magnetic parameters. The model is based on an energy function which simply encompasses the saturation…
Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown…
In this paper we address the problem of state observation for sensorless control of nonlinear magnetic levitation systems, that is, the regulation of the position of a levitated object measuring only the voltage and current of the…
Electric motors are crucial in many applications, but traditional control methods struggle with nonlinearities, parameter uncertainties, and external disturbances. Reinforcement Learning (RL) offers a promising solution as a data-driven…
In this work, we propose a new passivity-based sliding mode control method for mechanical port-Hamiltonian systems. Passivity-based sliding mode control (PBSMC) is unification of sliding mode control and passivity-based control. It achieves…