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The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.最新文献

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Instantaneous torque regulation for switched reluctance motors for the use in EVs 电动汽车用开关磁阻电机的瞬时转矩调节
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297643
H. Ishikawa, Y. Kamada, H. Naitoh
{"title":"Instantaneous torque regulation for switched reluctance motors for the use in EVs","authors":"H. Ishikawa, Y. Kamada, H. Naitoh","doi":"10.1109/AMC.2004.1297643","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297643","url":null,"abstract":"This paper presents a new instantaneous current control to obtain an instantaneously flat torque waveform with smaller torque ripples of switched reluctance motors (SRMs). The proposed current control is based on table lookup. By geometric insights for the machine and finite element method based analysis, ideal current profiles for the flat torque are generated. Some simulation results are presented to demonstrate the validity of the proposed control, which are verified by experiment.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128917297","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
A constructive method for designing fault detection filter with application to a three-wheeled vehicle 一种设计故障检测滤波器的建设性方法，并应用于三轮车辆
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297934
I. Jikuya, Suzuki N, M. Suzuki
{"title":"A constructive method for designing fault detection filter with application to a three-wheeled vehicle","authors":"I. Jikuya, Suzuki N, M. Suzuki","doi":"10.1109/AMC.2004.1297934","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297934","url":null,"abstract":"In this paper, we propose a constructive method for designing a class of fault detection filter for nonlinear affine systems, assuming all states are observable. Firstly we formulate the problem in terms of the geometric conditions. And for symmetrically affine systems without control inputs, we derive the necessary and sufficient condition for the existence of the fault detection filter and propose the constructive method. Then this approach is extended to affine systems with control inputs. Finally we demonstrate the effectiveness of the proposed method for a three wheeled vehicle.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132968452","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Solution for stereo correspondences on active stereo vision robot 主动立体视觉机器人的立体对应解
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297948
M. Shibata, H. Kawasumi
{"title":"Solution for stereo correspondences on active stereo vision robot","authors":"M. Shibata, H. Kawasumi","doi":"10.1109/AMC.2004.1297948","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297948","url":null,"abstract":"The paper describes a novel method for determining stereo correspondent points in the stereomate on active stereo vision robot. The appropriate stereo pairs are detected from the candidates of the combinations of feature points in the images. The substantiality of the candidate is distinguished during the robot motion, controlled with visual servo technique. The validity of the proposed method is confirmed in the physical experiments.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125508271","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Robust coordinated control of multi-axis gantry stages 多轴龙门工作台鲁棒协调控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297682
K. Tan, Tong-heng Lee, S. Lim, T. Giam, C. Teo
{"title":"Robust coordinated control of multi-axis gantry stages","authors":"K. Tan, Tong-heng Lee, S. Lim, T. Giam, C. Teo","doi":"10.1109/AMC.2004.1297682","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297682","url":null,"abstract":"High precision motion control of gantry stages has found numerous applications in the manufacturing industries where precise positioning is crucial. This paper presents the development of a robust controller for the co-ordinated motion control of moving gantry stages. The control scheme uses a feedback controller with a sliding mode to correct for the tracking error and to coordinate multiple axis to move in tandem. Simulation and experimental results illustrate the enhanced performance of this control scheme.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126917281","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
A dynamic hybrid control of biped robot in supporting area 两足机器人在支撑区域的动态混合控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297899
M. Morisawa, K. Ohnishi
{"title":"A dynamic hybrid control of biped robot in supporting area","authors":"M. Morisawa, K. Ohnishi","doi":"10.1109/AMC.2004.1297899","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297899","url":null,"abstract":"This paper addresses a motion control of biped robot for realization of robust various gait. It is known well that motion control can separate kinematics and dynamics of manipulation system and the system behaves as given nominal model. Hence, this paper tries to apply the technique of motion control to a legged system. However, because the legged system has no fixed point unlike in the case of manipulation system, motion of system is restricted by contact force between the system and an environment. Therefore, it is necessary to control the torque around ZMP for a stable walking. In contrast, a distance between both legs should be controlled. Consequently, a dynamic hybrid control is introduced for decoupling COG and relative leg motion. A coordinate system of dynamic hybrid control is set by according to walking motion. Hence, a dynamic hybrid control based on acceleration decoupling is proposed. Then adaptive motion for a rough terrain is realized. The effectiveness of proposed method is confirmed by experimental results.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122283187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Safety control of teleoperation system under time varying communication delay 时变通信延迟下遥操作系统的安全控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297913
T. Tsuji, A. Kato, K. Ohnishi, A. Hace, K. Jezernik
{"title":"Safety control of teleoperation system under time varying communication delay","authors":"T. Tsuji, A. Kato, K. Ohnishi, A. Hace, K. Jezernik","doi":"10.1109/AMC.2004.1297913","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297913","url":null,"abstract":"This paper describes the safe control method on bilateral control system. The control stability in bilateral control under time variance communication delay does not always stand for operation safety. Local controller is needed to secure the safety when communication delay becomes large. A novel method to change over the local controller and global bilateral controller due to communication delay is suggested. At the same time, the stability of global bilateral control is also assured with the conventional stability assurance method. Experimental system that joints manipulators in Slovenia and Japan is constructed. The validity of the suggested method is shown with this experimental system.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116138788","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Joint design method based on coprime factorization of 2DOF control system 基于素数分解的二自由度控制系统联合设计方法
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297923
T. Hioki, K. Yubai, J. Hirai
{"title":"Joint design method based on coprime factorization of 2DOF control system","authors":"T. Hioki, K. Yubai, J. Hirai","doi":"10.1109/AMC.2004.1297923","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297923","url":null,"abstract":"In many cases, control system synthesis is formulated as minimization of prescribed closed loop performance reflecting control requirements. Since the closed loop performance is a function of a controlled plant and a controller, a model identification and a controller design must interact with each other. This motivates us to consider the model identification and the controller design simultaneously. However, most of the previous joint design methods are not applicable to unstable plants because the identified plant model is usually used as the design parameter. On the other hand, we have analyzed the internal structure of 2DOF control system using a coprime factorization on RH/sub /spl infin// and shown that two free parameters, K and Q RH/sub /spl infin//, specify the tracking performance and the feedback performance, respectively. Also Tay et.al have proposed a parameterization of the plant dynamics by switching the role of the controlled plant and the controller, and introduced a free parameter R RH/sub /spl infin//. In this paper, we propose a new joint design strategy based on the identification of R and the design of Q. Since the identified plant parameter R is always stable, the proposed joint design strategy can be applied to a wider class than the conventional joint design method.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134428809","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Realization of "law of action and reaction" by multilateral control 多边控制实现“作用与反作用规律”
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297914
S. Katsura, Y. Matsumoto, K. Ohnishi
{"title":"Realization of \"law of action and reaction\" by multilateral control","authors":"S. Katsura, Y. Matsumoto, K. Ohnishi","doi":"10.1109/AMC.2004.1297914","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297914","url":null,"abstract":"In this paper, a realization of \"law of action and reaction\" by multilateral control is introduced. First, novel force sensing method based on twin robot system is proposed. Since this force sensing method does not need a parameter identification, it is very easy to implement it in multi-link manipulators. Next, an analysis and a design of bilateral control based on disturbance observer are discussed. Four-channel controller which is integrated of position control and force control in the acceleration dimension can be decomposed into two modes; common and differential modes. Design of bilateral control can be treated as position and force control in single joint, respectively. Furthermore, bilateral control is extended and multilateral control is generalized. Multilateral control can be designed similarly as bilateral control based on modal decomposition. Multilateral control proposed in this paper have a great impact on the academic society, industrial world, the field of medicine and so on.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133637211","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 145
Predictive altitude control a of winged body 翼体预测高度控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297683
M. Lepetic, D. Matko, I. Škrjanc, Y. Morita
{"title":"Predictive altitude control a of winged body","authors":"M. Lepetic, D. Matko, I. Škrjanc, Y. Morita","doi":"10.1109/AMC.2004.1297683","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297683","url":null,"abstract":"Altitude control of winged a body is realized with predictive functional controller (PFC). Although the predictive controllers are more or less in the domain of process industry, this paper proves that computational efficient PFC can be implemented on the systems with fast dynamics. The nonlinear model of winged body was written in the form of Takagi-Sugeno fuzzy model, the form that is suitable for implementation with PFC. High quality control requirements are short settle time with a periodical step response and zero steady state error and was achieved using PFC. Predictive controller proved as a good solution.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132907123","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Robust fast and precise positioning of ball screw-driven table system on machine stand 滚珠丝杠驱动工作台系统在机座上的快速精确定位
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297921
K. Itoh, Makoto Iwasaki, Nobuyuki Matsui
{"title":"Robust fast and precise positioning of ball screw-driven table system on machine stand","authors":"K. Itoh, Makoto Iwasaki, Nobuyuki Matsui","doi":"10.1109/AMC.2004.1297921","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297921","url":null,"abstract":"This paper presents a robust fast and precise positioning methodology for the ball screw-driven table system on machine stand. The position control system is composed of a robust 2-Degrees-of-Freedom (2DOF) compensator based on the coprime factorization description. In this system, a feedback compensator is mainly designed to ensure the robust control performance and to expand the servo bandwidth, where the feedback controller provides the robustness against mechanical parameter variations, such as the variations of load weight and the stiffness of ball-screw corresponding to the table position, and against the higher disturbance suppression performance. The H/sub /spl infin// design framework should be one of promising approaches to provide both robustness and expansion of bandwidth, by designing the appropriate weighting functions. A feedforward compensator, on the other hand, theoretically designed based on the coprime factorization using the mathematical plant model to provide the desired fast and precise positioning performance. The effectiveness of the proposed design has been verified by experiments using an actual table drive system in industry.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"442 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116748323","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 17
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