Results 251 to 260 of about 8,788 (300)

A joint torque disturbance observer for robotic assembly

Proceedings of 36th Midwest Symposium on Circuits and Systems, 2002
This paper describes an approach to achieve good trajectory tracking performance needed in printed circuit board (PCB) assembly by using a joint torque disturbance observer. By observing the difference between the reference torque and the output torque based on a prescribed model, the proposed disturbance observer immediately feeds back the discrepancy
C.Y. Lee, S.P. Chan, D.P. Mital
openaire   +1 more source

Tracking Control of a Mobile Manipulator with External Torque Disturbances Using Computed Torque Control

2020 IEEE 17th India Council International Conference (INDICON), 2020
In this paper, computed torque control technique is used for the tracking control problem of mobile robotic manipulator subjected to external torque disturbances. The proposed control allows the robot to follow the desired end effector and platform trajectories even in the presence of external torque disturbances.
Shyju Susan Mathew, V.R. Jisha
openaire   +1 more source

Mariner limit cycles and self-disturbance torques

Journal of Spacecraft and Rockets, 1970
Mariner attitude control system limit cycle operation during cruise, noting variation from ideal case to single side ...
B. DOBROTIN, E. A. LAUMANN, D. PRELEWICZ
openaire   +1 more source

Kalman Filter-based compensation of disturbance forces and torques for AGVs

2013 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA), 2013
Controller design for autonomous 4-wheeled ground vehicles is performed with differential flatness theory. Using a 3-DOF nonlinear model of the vehicle's dynamics and through the application of differential flatness theory an equivalent model in linear canonical (Brunovksy) form is obtained.
Gerasimos Rigatos, SIANO, PIERLUIGI, Giovanni Ingenito   +2 more
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Nonlinear control of a permanent magnet synchronous motor with disturbance torque estimation [PDF]

IEEE Transactions on Energy Conversion, 2000
This paper introduces a sensorless nonlinear control scheme for controlling the speed of a permanent magnet synchronous motor (PMSM) driving an unknown load torque.
J Solsona, M I Valla, CARLOS H Muravchik   +2 more
exaly   +2 more sources

Observer-Based Rejection of Cogging Torque Disturbance for Permanent Magnet Motors

Applied Sciences (Switzerland), 2017
In order to prove the speed regulation for permanent magnet motor systems, a control method is proposed to reject the disturbance by cogging torque, which arises from the interaction of the rotor magnets with the steel teeth on the stator.
Tae-Yong Kuc, Kuc Tae-Yong
exaly   +2 more sources

Torque disturbances and their effect on process control

Proceedings of 5th International Conference on Power Electronics and Variable-Speed Drives, 1994
The paper seeks to demonstrate the deleterious effects that torque disturbances can have on an industrial process where close control of speed is required to maintain product quality. The paper also highlights the type of disturbance arising from driven equipment as well as those generated from a variety of different types of drive used for variable ...
openaire   +1 more source

Sliding mode of control of flexible spacecraft under disturbance torque

International Journal of Systems Science, 1990
A control system design is presented for large angle rotational manoeuvres of a spacecraft-beam-tip body (an antenna or a reflector) configuration. Although this approach is applicable to three-axis manoeuvres, for simplicity only single-axis control is treated here. It is assumed that an unknown but bounded disturbance torque acts on the spacecraft. A
Iyer, Ashok, Singh, Sahjendra N.
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Torque-angle characteristics of synchronous machines following system disturbances

Electrical Engineering, 1932
A method of predetermining the torque-angle characteristic of a synchronous machine following a system disturbance is of importance in calculating the transient stability limit and in evaluating the effect on this limit of additional rotor circuits or of a change in excitation.
S. B. Crary, M. L. Waring
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Nonlinear Attitude Control of an Underactuated Spacecraft Subject to Disturbance Torques

2007 American Control Conference, 2007
We propose a procedure to correct and stabilize the orientation of a spacecraft subjected to an external disturbance torque, using only two available control torques. A corrective maneuver that best satisfies the objectives of the mission is first determined, and a nonlinear controller is developed to stably implement the corrective maneuver.
Mohammad Azim Karami, Farrokh Sassani
openaire   +1 more source