Comprehensive study of charge-based motion control for piezoelectric nanopositioners: Modeling, instrumentation and controller design

2022 ◽  
Vol 166 ◽  
pp. 108477
Author(s):  
Chen Yang ◽  
Fangzhou Xia ◽  
Yi Wang ◽  
Kamal Youcef-Toumi
Keyword(s):  
Motion Control ◽  
Controller Design ◽  
Comprehensive Study

Twin-Hull Vessel Motion Control Using a Neural Optimal Controller Design

1998 ◽  
Vol 31 (27) ◽  
pp. 295-301
Author(s):  
F. Kenevissi ◽  
A.P. Roskilly ◽  
M. Atlar ◽  
E. Mesbahi
Keyword(s):  
Motion Control ◽  
Controller Design ◽  
Optimal Controller ◽  
Vessel Motion

Adaptive Nonlinear Synchronization Control of Twin-Gyro Precession

2005 ◽  
Vol 128 (3) ◽  
pp. 592-599 ◽  
Author(s):  
Di Zhou ◽  
Tielong Shen ◽  
Katsutoshi Tamura
Keyword(s):  
Motion Control ◽  
Feedback Linearization ◽  
Controller Design ◽  
Open Loop ◽  
Feedback Controller ◽  
Nonlinear Feedback ◽  
Nonlinear Controller ◽  
Control Moment ◽  
Command Signals ◽  
Control Moment Gyro

The slewing motion of a truss arm driven by a V-gimbaled control-moment gyro is studied. The V-gimbaled control-moment gyro consists of a pair of gyros that must precess synchronously. For open-loop slewing motion control, the controller design problem is simplified into finding a feedback controller to steer the two gyros to synchronously track a specific command. To improve the synchronization performance, the integral of synchronization error is introduced into the design as an additional state variable. Based on the second method of Lyapunov, an adaptive nonlinear feedback controller is designed. For more accurate but complicated closed-loop slewing motion control, the feedback linearization technique is utilized to partially linearize the nonlinear nominal model, where two specific output functions are chosen to satisfy the system tracking and synchronization requirements. The system tracking dynamics are bounded by properly determining system indices and command signals. For the partially linearized system, the backstepping tuning function design approach is employed to design an adaptive nonlinear controller. The dynamic order of the adaptive controller is reduced to its minimum. The performance of the proposed controllers is verified by simulation.

scholarly journals Parameter Identification and Controller Design for the Velocity Loop in Motion Control Systems

2011 ◽  
Vol 02 (03) ◽  
pp. 251-257 ◽  
Author(s):  
Reimund Neugebauer ◽  
Stefan Hofmann ◽  
Arvid Hellmich ◽  
Holger Schlegel
Keyword(s):  
Parameter Identification ◽  
Control Systems ◽  
Motion Control ◽  
Controller Design

Research on PID Linear Motion Control Strategy of Self-Balanced Two-Wheeled Vehicle

2013 ◽  
Vol 694-697 ◽  
pp. 1679-1683 ◽  
Author(s):  
Ying Li ◽  
Da Zheng Wang ◽  
Xiao Hua Zhang ◽  
Peng Bo Bian
Keyword(s):  
Motion Control ◽  
Closed Loop ◽  
Controller Design ◽  
Lagrange Equation ◽  
Special Kind ◽  
Linear Motion ◽  
Dynamics Modeling ◽  
Wheeled Vehicle ◽  
Pid Controller Design ◽  
Classical Control

Abstract. The self-balanced two-wheeled vehicle is a special kind of mobile robot, this typical under-actuated system is multivariable, nonlinear, strong coupling and parameter-uncertain; the structure characteristics is its small size, simple structure, less energy consumption, flexible movement. This paper selects Lagrange equation as dynamics modeling method for this tricyclic system, and determines the dual closed-loop PID as control scheme, finally completes the study of its linear motion control. By discussing the robustness, transient performance, steady-state performance of the system, this paper uses classical control theory to complete the dual closed-loop PID controller design and simulation with MATLAB / Simulink.

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