...Mark Karpenko; Nariman Sepehri This paper documents the design of a low-order, fixed-gain, controller that can maintain the positioning performance of an electrohydraulic actuator operating under variable load with a leaking piston seal. A set of linear time-invariant equivalent models...

...Basar Ozkan; Donald Margolis; Marco Pengov A controller output observer is used for estimating specific outputs from a physical system through the use of alternative outputs that are measured. In most cases these estimated signals can be measured directly using sensors. However, some outputs...

...Junyoung Park; Alan Palazzolo; Raymond Beach Theory and simulation results have demonstrated that four, variable speed flywheels could potentially provide the energy storage and attitude control functions of existing batteries and control moment gyros on a satellite. Past modeling and control...

...Haftay Hailu; Sean Brennan A method is presented that can often reduce the number of scheduling parameters for gain-scheduled controller implementation by transformation of the system representation using parameter-dependent dimensional transformations. In some cases, the reduction in parameter...

...Mario Garcia-Sanz; Irene Eguinoa; Marta Barreras; Samir Bennani This paper deals with the design of robust control strategies to govern the position and attitude of a Darwin-type spacecraft with large flexible appendages. The satellite is one of the flyers of a multiple spacecraft constellation...

...Benjamin Potsaid; John Ting-Yung Wen; Mark Unrath; David Watt; Mehmet Alpay Motion control requirements in electronic manufacturing demand both higher speeds and greater precision to accommodate continuously shrinking part/feature sizes and higher densities. However, improving both performance...

... variations. Application to the model of a rotary inverted pendulum shows the effectiveness of the proposed scheme. 14 03 2005 13 02 2006 nonlinear control systems controllers pendulums nonlinear systems regulator theory structurally stable regulation The problem of forcing...

...Ruh-Hua Wu, Graduate Student; Pi-Cheng Tung, Professor A controller consisting of three schemes, one proportional gain, one pulse, and one ramp, is proposed to achieve precise and fast pointing control under the presence of stick-slip friction. Design of the controller is based on two distinctive...

...Prabhakar R. Pagilla, Associate Professor; Inderpal Singh, Graduate Student; Ramamurthy V. Dwivedula, Graduate Student Design of a stable controller and observer for web tension regulation in an accumulator, in web processing lines, is considered in this paper. A simplified average dynamic model...

...Mohsen Dadfarnia; Nader Jalili; Bin Xian; Darren M. Dawson A Lyapunov-based control strategy is proposed for the regulation of a Cartesian robot manipulator, which is modeled as a flexible cantilever beam with a translational base support. The beam (arm) cross-sectional area is assumed...

...Dong H. Kim; Hua O. Wang; Hai-Won Yang This paper describes a systematic procedure to design robust adaptive controllers for a class of nonlinear systems with unknown functions of unknown bounds based on backstepping and sliding mode techniques. These unknown functions can be unmodeled system...

...Ying-Shieh Kung, Associate Professor,; Rong-Fong Fung, Professor, In this paper, a control method combining the feedforward and feedback controllers is proposed to precisely control the dynamic performance of the piezoceramic actuator (PA). In the feedforward controller design, the hysteresis...

... equilibrium position, in a pre-fixed desired travelling time. The results hold without considering internal elastic damping effect , using a classical controller with feedforward plus joint feedback terms . The new approach concerns the computation of the feedforward control, which is based on backward...

...Byung-Sub Kim; Tsu-Chin Tsao This paper presents a method for enhancing the performance of a digital repetitive control system. The performance at the fundamental frequency and its harmonics of repetitive exogenous signals is improved by applying a modified low-pass q z , z − 1 filter structure...

.... Shiraishi and Yonekawa 6 studied a regulator design in which the modulation of exit area and hence fluid resistance was accomplished actively with a DC servomotor, and used describing functions to analyze the system limit cycles in certain operational configurations. Active control of a solenoid-actuated...

...Bill Goodwine; Milosˇ Zˇefran This paper considers the design of nonlinear stabilizing controllers for a class of systems which exhibit unstable rolling dynamics or shimmy. Such systems can be used, for example, to approximate the complex dynamics of an aircraft landing gear structure...

...Feng-Hsiag Hsiao; Jiing-Dong Hwang; Shing-Tai Pan New stability conditions for discrete singularly perturbed systems are presented in this study. The corresponding slow and fast subsystems of the original discrete singularly perturbed system are first derived. The observer-based controllers...

...Alberto Bemporad; Mauro Di Marco; Alberto Tesi In this paper, the wall-following problem for low-velocity mobile robots, equipped with incremental encoders and one sonar sensor, is considered. A robust observer-based controller, which takes into account explicit constraints on the orientation...

...Rui Liu, Graduate Student; Andrew Alleyne, Professor In this paper, a Lyapunov-based control algorithm is developed for the force/pressure tracking control of an electro-hydraulic actuator. The controller relies on an accurate model of the system. To compensate for the parameter uncertainties...

...Hyun-Taek Choi, Graduate Student,; Bong Keun Kim, Graduate Student,; Il Hong Suh, Professor,; Wan Kyun Chung, Professor, A robust high-speed motion controller is proposed. The proposed controller consists of the proximate time optimal servomechanisms (PTOS) for high-speed motion, disturbance...