相关论文: Estimating load points of a motor-pump system usin…

Condition monitoring of induction motor has been widely researched over recent years due to its ability to monitor operating characteristics and the health status of induction motor. Various methods have been used to monitor induction…

Model Predictive Control (MPC) is the principal control technique used in industrial applications. Although it offers distinguishable qualities that make it ideal for industrial applications, it can be questioned its robustness regarding…

Rotor-based hopping locomotion significantly improves efficiency and operation time as compared to purely flying systems; where most hopping robots use the liftoff states and an assumed ballistic trajectory to determine the hopping height.…

We propose a simple mathematical model that describes the time evolution of a self-propelled object on a liquid surface using such variables as the object location, the surface concentration of active molecules and the hydrodynamic surface…

Torque-controlled actuators are critical components in mechatronic systems that closely interact with their environment, such as legged robots, collaborative manipulators, and exoskeletons. The performance and stability of these actuators…

This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…

In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…

This paper presents a prediction algorithm that estimates the vehicle trajectory every five milliseconds for an autonomous vehicle. A kinematic and a dynamic bicycle model are compared, with the dynamic model exhibiting superior accuracy at…

We develop a tracking model predictive control (MPC) scheme for nonlinear systems using the linearized dynamics at the current state as a prediction model. Under reasonable assumptions on the linearized dynamics, we prove that the proposed…

In vehicle dynamics control, many variables of interest cannot be directly measured, as sensors might be costly, fragile, or even not available. Therefore, real-time estimation techniques need to be used. The previous approach suffers from…

Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This paper presents a data-driven approach to identifying soft…

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…

Koopman operators are of infinite dimension and capture the characteristics of nonlinear dynamics in a lifted global linear manner. The finite data-driven approximation of Koopman operators results in a class of linear predictors, useful…

Predictive Stator Current Control (PSCC) has been proposed for control of multi-phase drives. The flexibility offered by the use of a Cost Function has been used to deal with the increased number of phases. However, tuning of the Weighting…

This paper illustrates the way for estimating position and orientation of a vehicle with an Extended Kalman Filter (EKF). For this purpose a non-linear model is designed and an adaptive calculation of measurement noise covariance matrix is…

This paper contributes to modeling and supervision of multi-stage centrifugal compressors coping with real-gas processes and steady to highly transient operating conditions. A novel dynamic model is derived, and the incorporation of the…

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…

The Koopman operator theory is an increasingly popular formalism of dynamical systems theory which enables analysis and prediction of the nonlinear dynamics from measurement data. Building on the recent development of the Koopman model…

In many advanced control strategies the wave excitation force is key to determining the control input. However, it is often difficult to measure the excitation force on a Wave Energy Converter (WEC). The use of Kalman filters to estimate…

A robust Model Predictive Control (MPC) approach for controlling front steering of an autonomous vehicle is presented in this paper. We present various approaches to increase the robustness of model predictive control by using weight…