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Robust control of robot manipulators using difference equations as universal approximator |
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Payam Kheirkhahan(Garmsar branch, Islamic Azad University, Iran, Islamic Republic of) |
| This paper presents a simple and robust non inversion-based perfect tracking control strategy for robot manipulators. The proposed approach is capable to eliminate the environmental problems arising from classic feedforward control design and so guarantees an appropriate level of robustness of control system to uncertainties including external disturbances, un- modeled dynamics, and parametric uncertainty. Extensive simulation results performed using a two degree-of-freedom actuated elbow robot prove the effectiveness of the proposed approach. |
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Model Predictive Control for Hybrid Electric Vehicles with Linear Parameter-Varying Model |
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Yuta Takahashi, Koichi Hidaka(Tokyo Denki University, Japan) |
| This paper proposes to design a controller to improve a fuel economy of a power-split hybrid electric vehicle using model predictive control with linear parameter-varying systems. Conventional researches have proposed control methods on the basis of the driving cycle to improve the fuel economy of hybrid electric vehicles. However, the methods depend on the driving cycle. Therefore, we use model predictive control to refine the fuel economy of hybrid electric vehicles, and consider a hybrid electric vehicle model with the vehicle speed as a parameter. |
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Disturbance Observer based on Nonlinear Damping velocity control for Permanent Magnet Synchronous Motor (PMSM) |
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Junghwan Gil(Univ. chungang, Korea), Wonhee KIM(Chung-Ang University, Korea) |
| In this paper, we propose disturbance observer (DOB) based on nonlinear damping control for PMSM.The proposed observer makes sure that decreasing parameter
uncertainties by temperature or process accuracy. The high gain disturbance observer is able to compensate these
uncertainties by estimating disturbance and analyzing frequency domain.The current error dynamics are
converges lower bound. The closed-loop stability is proven using input to state stability (ISS) property. |
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Maneuverable Aircraft Flight Control Using Nonlinear Dynamic Inversion |
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Qianlei Jia(NWPU, China) |
| Feedback linearization is a mature and highly applied control method in aerospace and other industrial applications. The designed control inputs are used to cancel the nonlinear terms using negative feedback of these terms. This paper focuses on designing a fight simulation model for F-16 fighter jet in responding to diverse sharp maneuvers. F-16 model is expressed by fixed-mass rigid-body six-degree-of freedom (6-DOF) equations of motion, which include the detailed aerodynamic coefficients, the engine model and the actuator models that have lags and limits. |
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