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Motion System (motion + system)

Distribution by Scientific Domains
Engineering100%

Selected Abstracts

Rider's net moment estimation using control force of motion system for bicycle simulator

JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 11 2004
Jae-Cheol Shin
One of the challenging problems with bicycle simulators is to deal with the virtual bicycle dynamics that is coupled with rider's motion. For the virtual bicycle dynamics calculation and the real time simulation, it is necessary to identify the control inputs from the rider as well as the virtual environments. The steering, pedaling, and braking torques can be easily measured by using torque sensors and the virtual environments can be generated and provided by a visual system. However, direct measurement of the rider's net moment that significantly affects the bicycle motion is not practical. In this work, it is shown that six control forces of the Stewart platform-based motion system can be used for effective estimation of the rider's net moment, incorporated with the sliding mode controller with perturbation estimation. © 2004 Wiley Periodicals, Inc. [source]

A cross-coupling reference model control algorithm

INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, Issue 8 2005
Y. Xiao
Abstract This paper presents an extended cross-coupling generalized predictive control algorithm with reference models for multi-axis coordinated motion systems. It is obtained by minimization of a modified performance index in which the synchronization errors between different motion axes are embedded. Therefore, through adequately adjusting the control parameters the resulting control system may provide an improved performance in terms of tracking and synchronization. An application of the proposed algorithm to an electro-hydraulic process is completed, and the simulation results demonstrating the good performance are also given. Copyright © 2005 John Wiley & Sons, Ltd. [source]

Position-dependent disturbance rejection using spatial-based adaptive feedback linearization repetitive control

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 12 2009
Cheng-Lun Chen
Abstract In this paper, we propose a new design of spatial-based repetitive control for a class of rotary motion systems operating at variable speeds. The open-loop system in spatial domain is obtained by reformulating a nonlinear time-invariant system with respect to angular displacement. A two-degree-of-freedom control structure (comprising two control modules) is then proposed to robustly stabilize the open-loop system and improve the tracking performance. The first control module applies adaptive feedback linearization with projected parametric update and concentrates on robust stabilization of the closed-loop system. The second control module introduces a spatial-based repetitive controller cascaded with a loop-shaping filter, which not only further reduces the tracking error, but also improves parametric adaptation. The overall control system is robust to model uncertainties of the system and capable of rejecting position-dependent disturbances under varying process speeds. Stability proof for the overall system is given. A design example with simulation is provided to demonstrate the applicability of the proposed design. Copyright © 2008 John Wiley & Sons, Ltd. [source]