Identification of Resonance in Hybrid Stepper Motor Through Measured Current Dynamics in Online for Accurate Position Estimation and Control

2013 ◽  
Vol 9 (2) ◽  
pp. 1056-1063 ◽  
Author(s):  
K. Balakrishnan ◽  
B. Umamaheswari ◽  
K. Latha
Keyword(s):  
Position Estimation ◽  
Stepper Motor ◽  
Measured Current ◽  
Accurate Position ◽  
Estimation And Control ◽  
And Control

scholarly journals A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots

2021 ◽  
pp. 1-10
Author(s):  
Chao Liu ◽  
Tarik Tosun ◽  
Mark Yim
Keyword(s):  
Low Cost ◽  
Complete Solution ◽  
Position Estimation ◽  
Modular Robots ◽  
Position Sensor ◽  
Position Sensing ◽  
Wide Range ◽  
Accurate Position ◽  
Estimation And Control ◽  
And Control

Abstract Accurate position sensing is important for state estimation and control in robotics. Reliable and accurate position sensors are usually expensive and difficult to customize. Incorporating them into systems that have very tight volume constraints such as modular robots are particularly difficult. PaintPots are a low-cost, reliable, and highly customizable position sensor, but their performance is highly dependent on the manufacturing and calibration process. This paper presents a Kalman Filter with a simplified observation model developed to deal with the nonlinearity issues that result from the use of low-cost microcontrollers. In addition, a complete solution for the use of PaintPots in a variety of sensing modalities including manufacturing, characterization, and estimation is presented for an example modular robot, SMORES-EP. This solution can be easily adapted to a wide range of applications.

Application of the Nonlinear Tschauner-Hempel Equations to Satellite Relative Position Estimation and Control

2017 ◽  
Vol 71 (1) ◽  
pp. 44-64 ◽  
Author(s):  
Ranjan Vepa
Keyword(s):  
Relative Motion ◽  
Position Estimation ◽  
True Anomaly ◽  
Linear Quadratic ◽  
Control Laws ◽  
Motion Equations ◽  
Motion Models ◽  
Estimation And Control ◽  
Oblateness Effect ◽  
And Control

In this paper we develop the nonlinear motion equations in terms of the true anomaly varying Tschauner–Hempel equations relative to a notional orbiting particle in a Keplerian orbit, relatively close to an orbiting primary satellite to estimate the position of a spacecraft. A second orbiting body in Earth orbit relatively close to the first is similarly modelled. The dynamic relative motion models of the satellite and the second orbiting body, both of which are modelled in terms of independent relative motion equations, include several perturbing effects, such as the asymmetry of the Earth gravitational field resulting in the Earth's oblateness effect and the third body accelerations due to the Moon and the Sun. Linear control laws are synthesised for the primary satellite using the transition matrix so it can rendezvous with the second orbiting body. The control laws are then implemented using the state estimates obtained earlier to validate the feedback controller. Thus, we demonstrate the application of a Linear Quadratic Nonlinear Gaussian (LQNG) design methodology to the satellite rendezvous control design problem and validate it.

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