Optimal Design of Closed-Loop Type Robot Module with Redundant Actuation

1994 ◽  
Vol 27 (4) ◽  
pp. 489-493
Author(s):  
S.H. Lee ◽  
Y.K. Kwak ◽  
B.-J. Yi
Keyword(s):  
Optimal Design ◽  
Closed Loop ◽  
Redundant Actuation

scholarly journals Optimal Design Based on Closed-Loop Fusion for Velocity Bandwidth Expansion of Optical Target Tracking System

Sensors ◽  
2019 ◽  
Vol 19 (1) ◽  
pp. 133 ◽  
Author(s):  
Yao Mao ◽  
Wei Ren ◽  
Yong Luo ◽  
Zhijun Li
Keyword(s):  
Optimal Design ◽  
Target Tracking ◽  
Sensor Fusion ◽  
Closed Loop ◽  
Tracking System ◽  
Micro Electro Mechanical System ◽  
Measurement Range ◽  
Improve Measurement ◽  
Loop Fusion ◽  
Bandwidth Expansion

Micro-electro-mechanical system (MEMS) gyro is one of the extensively used inertia sensors in the field of optical target tracking (OTT). However, velocity closed-loop bandwidth of the OTT system is limited due to the resonance and measurement range issues of MEMS gyro. In this paper, the generalized sensor fusion framework, named the closed-loop fusion (CLF), is analyzed, and the optimal design principle of filter is proposed in detail in order to improve measurement of the bandwidth of MEMS gyro by integrating information of MEMS accelerometers. The fusion error optimization problem, which is the core issue of fusion design, can be solved better through the feedback compensation law of CLF framework and fusion filter optimal design. Differently from conventional methods, the fusion filter of CLF can be simply and accurately designed, and the determination of superposition of fusion information can also be effectively avoided. To show the validity of the proposed method, both sensor fusion simulations and closed-loop experiments of optical target tracking system have yielded excellent results.

Optimal design of closed-loop supply chain networks with multifunctional nodes

2015 ◽  
Vol 80 ◽  
pp. 73-91 ◽  
Author(s):  
Magdalini A. Kalaitzidou ◽  
Pantelis Longinidis ◽  
Michael C. Georgiadis
Keyword(s):  
Supply Chain ◽  
Optimal Design ◽  
Closed Loop ◽  
Closed Loop Supply Chain ◽  
Supply Chain Networks

scholarly journals Stability Driven Optimal Controller Design for High Quality Images

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 437 ◽  
Author(s):  
Sangmin Suh
Keyword(s):  
Optimal Design ◽  
Closed Loop ◽  
Controller Design ◽  
Design Method ◽  
Recognition Rate ◽  
Robot Vision ◽  
Sensitivity Functions ◽  
Closed Loop Systems ◽  
Conventional Methods ◽  
Performance Limitations

This note presents an optimal design method to enhance image quality in optical image stabilization (OIS) systems. First of all, performance limitations of conventional methods are shown and secondly, a new design framework based on convex optimization is proposed. The resulting controller essentially stabilizes the closed loop systems because the proposed method is derived from Lyapunov stability. From the test results, it is confirmed that this method reduces the effect of hand vibrations and makes images sharp. Additionally, it is shown that the proposed method is also effective in robot vision and recognition rate of deep neural network (DNN) based traffic signs and pedestrians detection in automotive applications. This note has three main contributions. First, performance limitations of the conventional method are shown. Second, from the relation between sensitivity and complementary sensitivity functions, an indirect design method for performance improvement is proposed, and finally, stability guaranteed optimal design is proposed. Unlike conventional methods, the proposed method does not require addition filters to suppress resonances of the plant and this note highlights phases of the closed loop systems on removing external vibrations.

An Optimal Design of PI Control in the Application of Active Power Filter

2013 ◽  
Vol 385-386 ◽  
pp. 1220-1223
Author(s):  
Yun Liang Wang ◽  
Xiao Feng Yu
Keyword(s):  
Optimal Design ◽  
Closed Loop ◽  
Active Power Filter ◽  
Mathematic Model ◽  
Active Power ◽  
Tracking Performance ◽  
Pi Control ◽  
Matlab Simulink ◽  
Power Filter ◽  
Stable Performance

This paper mainly introduces an optimal design of PI control based on compensation to eliminating the interference and improving the performance of the system. With the mathematic model of shunt APF in d-p rotating coordinate, simulation indicates that there is a period disturbing signal in the current closed loop of shunt APF based on the conventional PI control, which obviously impacts on the current tracking performance of the system. So a new PI control based on compensation is put forward. Through the simulation in the platform of Matlab/Simulink, it turns out that this method can improve the current tracking performance of APF and stable performance of the system.

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