Results 211 to 220 of about 26,630 (264)
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Disturbance rejection by online ZMP compensation
Robotica, 2008SUMMARYA novel method of Zero-Moment-Point (ZMP) compensation is proposed to improve the stability of locomotion of a biped, which is subjected to disturbances. A compensating torque is injected into the ankle-joint of the foot of the robot to improve stability.
Prahlad Vadakkepat +2 more
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DISTURBANCE COMPENSATION FOR NONLINEAR PROCESSES
Chemical Engineering Communications, 1995Abstract This paper focuses on the feedback linearization of nonlinear processes with external measurable and immeasurable disturbances. The proposed disturbance compensator, based on a set of the adjustable parameters, is used as a technique to robustify the cancellation of nonlinear terms under a suitable tuning framework.
YI-SHYONG CHOU, WEI WU
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IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society, 2021
This paper focuses on single inertialization on the load-side parameter of two-inertia system and employs the equivalent disturbance compensator (EDC). Conventional EDC is designed in case of the plant system without friction; thus, the back-forward drivability control using the EDC is affected by friction.
Yusuke Kawai +4 more
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This paper focuses on single inertialization on the load-side parameter of two-inertia system and employs the equivalent disturbance compensator (EDC). Conventional EDC is designed in case of the plant system without friction; thus, the back-forward drivability control using the EDC is affected by friction.
Yusuke Kawai +4 more
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Biased Sinusoidal Disturbance Compensation With Unknown Frequency
IEEE Transactions on Automatic Control, 2013This note combines an adaptive frequency estimation scheme with a fractional-order controller for unknown biased sinusoidal disturbance rejection. The disturbance is estimated via an adaptive orthogonal signals generator based on a third-order generalized integrator.
FEDELE, Giuseppe, Ferrise A.
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Compensation, pain complaints, and psychological disturbance
Pain, 1984This study compared 47 patients with chronic low back pain who were involved in personal injury litigation with 33 patients not seeking compensation who were also complaining of low back pain. Pain was assessed using a visual analogue scale and the adjectival check-list of the McGill Pain Questionnaire.
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Friction Compensation Via Disturbance Observer
IFAC Proceedings Volumes, 1991Abstract For the translational movement of a robot arm, which is disturbed by a very strong frictional force, a method is developed to achieve an accurate position control. Therefore, the idealized translar tional degree of freedom, which is represented by a simple second order model, is used as a reference model to the read process.
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Gravity Disturbance Compensation for Inertial Navigation System
IEEE Transactions on Instrumentation and Measurement, 2019This paper investigates the gravity disturbance compensation for inertial navigation system based on high-resolution global gravity field models. The high-precision gravity is calculated using the European Improved Gravity model of the Earth by New techniques (EIGEN)-6C4, which is a representative of the high-resolution models.
Lubin Chang, Fangjun Qin, Meiping Wu
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ADAPTIVE COMPENSATION OF TORQUE DISTURBANCES IN AN INDUSTRIAL ROBOT
IFAC Proceedings Volumes, 2002Abstract A compact model of torque disturbances in the brushless motors of an industrial manipulator is discussed and algorithms are given for the identification of model parameters. Thanks to its compactness, the model allows the implementation of a straightforward and effective technique for disturbance compensation. The compensation is adaptive as
FERRETTI, GIANNI +2 more
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A Novel Design of Disturbance Compensator in Active Disturbance Rejection Control
Journal of Hunan University Natural Sciences, 2022This article aims to describe a novel design method of disturbance compensator in ADRC (Active Disturbance Rejection Control) based on Lyapunov stability theory. Error-based state equation is used to simplify the ADRC structure. The state feedback controller is designed using LQ (Linear Quadratic) method based on a linearized model. The generalized ESO
Jong-Su Kang +2 more
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Compensation of disturbances for MIMO systems with quantized output
Automatica, 2015zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Igor B. Furtat +2 more
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