Searched for: subject%3A%22Motion%255C+Control%22
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Mooren, Noud (author), van Meer, Max (author), Witvoet, Gert (author), Oomen, T.A.E. (author)
Actuators that require commutation algorithms, such as the switched reluctance motor (SRM) considered in this paper and employed in the coarse pointing assembly (CPA) for free-space optical communication, often have torque-ripple disturbances that are periodic in the commutation-angle domain that deteriorate the positioning performance. The...
journal article 2024
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Tacx, Paul (author), Habraken, Roel (author), Witvoet, Gert (author), Heertjes, Marcel (author), Oomen, T.A.E. (author)
Next-generation deformable mirrors are envisaged to exhibit low-frequency flexible dynamics and to contain a large number of spatially distributed actuators due to increasingly stringent performance requirements. The increasingly complex system characteristics necessitate identifying the flexible dynamic behavior for design validation and...
journal article 2024
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Pustina, P. (author), Della Santina, C. (author), Boyer, Frederic (author), De Luca, Alessandro (author), Renda, Federico (author)
Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this article aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration variables be found? We not only show that the...
journal article 2024
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Gamper, Hannes (author), Pérez, Laura Rodrigo (author), Mueller, Andreas (author), Diaz Rosales, A. (author), Di Castro, Mario (author)
This letter presents an inverse kinematics approach that combines two well-known Jacobian based methods, the task-priority framework and an optimization-based approach, such that tracking and optimization tasks can be executed simultaneously. The novelty of the proposed algorithm lies in the ability to smoothly switch between different tasks...
journal article 2024
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Eerden, Koen (author)
This MSc thesis presents an investigation into motion control systems aimed at reducing swing motion of a lifting load during offshore heavy lifting operations. Two distinct models are developed for this objective. Subsequently, an analysis is done to assess the impact of various control aspects.<br/><br/>First, an assessment of the offshore...
master thesis 2023
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Karbasizadeh, Nima (author)
This dissertation addresses the demand for faster, more precise, and robust controllers in the precision motion industry. Traditional linear controllers have limitations due to the waterbed effect and Bode’s phase-gain relationship. To overcome these limitations, complex-order controllers are explored in this study. The dissertation focuses on...
doctoral thesis 2023
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Liu, Yixuan (author)
Linear time-invariant (LTI) controllers suffer from inherent limitations as the waterbed effect and Bode's gain-phase relationship. Reset control, a nonlinear strategy involving the reset of linear controllers, offers a potential solution to overcome these traditional LTI limitations. Based on the describing function analysis, the reset...
master thesis 2023
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Rueda Oller, Guillem (author)
The Geosynchronous Large Debris Reorbiter concept is an active debris removal method proposed for defunct satellites in geostationary orbit. This method uses the electrostatic tractor (or tug), which is a spacecraft that controls a mutual electrostatic force on a target and uses this force to slowly accelerate the target towards or away from the...
master thesis 2023
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Pustina, P. (author), Borja, Pablo (author), Della Santina, C. (author), De Luca, Alessandro (author)
Soft robots are intrinsically underactuated mechanical systems that operate under uncertainties and disturbances. In these conditions, this letter proposes two versions of PID-like control laws with a saturated integral action for the particularly challenging shape regulation task. The closed-loop system is asymptotically stabilized and...
journal article 2023
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Ding, J. (author), Sels, Mees A.van Loben (author), Angelini, Franco (author), Kober, J. (author), Della Santina, C. (author)
Quadrupeds deployed in real-world scenarios need to be robust to unmodelled dynamic effects. In this work, we aim to increase the robustness of quadrupedal periodic forward jumping (i.e., pronking) by unifying cutting-edge model-based trajectory optimization and iterative learning control. Using a reduced-order soft anchor model, the...
journal article 2023
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Spahn, M. (author), Wisse, M. (author), Alonso-Mora, J. (author)
Optimization fabrics are a geometric approach to real-time local motion generation, where motions are designed by the composition of several differential equations that exhibit a desired motion behavior. We generalize this framework to dynamic scenarios and nonholonomic robots and prove that fundamental properties can be conserved. We show...
journal article 2023
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Pierallini, M. (author), Stella, F. (author), Angelini, Franco (author), Deutschmann, Bastian (author), Hughes, Josie (author), Bicchi, Antonio (author), Garabini, Manolo (author), Della Santina, C. (author)
Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system's underactuation, and the need of using a prominent feedforward control action to...
journal article 2023
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Rodriguez Hernandez, K.E. (author), de Groot, J.H. (author), Baas, Frank (author), Stijntjes, M. (author), Grootendorst, E.R.M. (author), Schiemanck, S.K. (author), van der Helm, F.C.T. (author), van der Kooij, H. (author), Mugge, W. (author)
Individuals with an upper motor neuron syndrome, e.g., stroke survivors, may have a pathological increase of passive ankle stiffness due to spasticity, that impairs ankle function and activities such as walking. To improve mobility, walking aids such as ankle-foot orthoses and orthopaedic shoes are prescribed. However, these walking aids...
journal article 2023
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Buitenhuis, R. N. (author), Saikumar, N. (author), Hassan HosseinNia, S. (author)
The ever-increasing industry desire for improved performance makes linear controller design run into fundamental limitations. Nonlinear control methods such as Reset Control (RC) are needed to overcome these. RC is a promising candidate since, unlike other nonlinear methods, it easily integrates into the industry-preferred PID design...
journal article 2023
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Delissen, A.A.T.M. (author)
High-precision motion systems are crucial for many applications, such as in semiconductor equipment, microscopy, robotics, and medical devices. Next to high operating speeds, high accuracy and precision are required, which makes the design of these systems a challenging task. Dynamics, feedback control, and their interaction all play an...
doctoral thesis 2022
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Bron, Thijs (author)
With the highly increased interest in offshore wind turbines and their technologies, the sector has witnessed rapid development in the past decade. For installed offshore wind turbines, there has been a lot of research conducted in the field of aero-, hydro- and structural dynamics, wind turbine-control, operation &amp; maintenance, foundations...
master thesis 2022
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van der Werf, Tiis (author)
The performance of linear control is limited by the waterbed effect, while the performance demands of industry are continuously increasing. Using non-linear control in the future is therefore unavoidable. Being non-linear, reset control is able to achieve better performance than linear control. However, the lack of robustness to measurement...
master thesis 2022
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Bjelonic, Filip (author), Sachtler, Arne (author), Albu-Schaffer, Alin (author), Della Santina, C. (author)
Adding elastic elements to the mechanical structure should enable robots to perform efficient oscillatory tasks. Still, even characterizing natural oscillations in nonlinear systems is a challenge in itself, which nonlinear modal theory promises to solve. Therein eigenmanifolds generalize eigenspaces to mechanical systems with non-Euclidean...
journal article 2022
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Wu, D. (author), Ha, Xuan Thao (author), Zhang, Yao (author), Ourak, Mouloud (author), Borghesan, Gianni (author), Niu, Kenan (author), Trauzettel, F. (author), Dankelman, J. (author), Menciassi, Arianna (author), Poorten, Emmanuel Vander (author)
In cardiovascular interventions, when steering catheters and especially robotic catheters, great care should be paid to prevent applying too large forces on the vessel walls as this could dislodge calcifications, induce scars or even cause perforation. To address this challenge, this paper presents a novel compliant motion control algorithm...
journal article 2022
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Tacx, Paul (author), Oomen, T.A.E. (author)
Next-generation motion stages are envisaged to be lightweight to meet stringent demands regarding accuracy and throughput. The lightweight stage design implies flexible dynamical behavior, which is foreseen to be severely excited due to increasing acceleration forces. The aim of this paper is to exploit additional actuators and sensors to...
journal article 2022
Searched for: subject%3A%22Motion%255C+Control%22
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