Searched for: subject:"Motion%5C+Control"
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Buitenhuis, R.N. (author)
The ever-increasing industry desire for improved performance makes linear controller design run into its fundamental limitations. A nonlinear controller, such as Reset Control (RC), is needed to overcome these. RC is promising since, unlike other nonlinear methods, it easily integrates into the PID design framework preferred by industry. Thus...
master thesis 2020
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Diederen, Wouter (author)
The Ampelmann system occasionally starts vibrating unexpectedly, especially while the system is placed on a pedestal. These vibrations are believed to be caused by the eigenfrequencies of the system and/or amplification caused by the motion control algorithm. In this research an investigation in this phenomenon was done. This investigation was...
master thesis 2020
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Li, Shijie (author), Liu, Jialun (author), Negenborn, R.R. (author), Wu, Qing (author)
Autonomous shipping refers to the ability of a ship to independently control its own actions while transporting cargo from one port to another, which places higher requirements on ship motion control methods. When a ship enters a port, it is important to ensure that the ship sails from the fairway area to the assigned position at the berth...
journal article 2020
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Angelini, Franco (author), Della Santina, C. (author), Garabini, Manolo (author), Bianchi, Matteo (author), Bicchi, Antonio (author)
Human beings can achieve a high level of motor performance that is still unmatched in robotic systems. These capabilities can be ascribed to two main enabling factors: (i) the physical proprieties of human musculoskeletal system, and (ii) the effectiveness of the control operated by the central nervous system. Regarding point (i), the...
journal article 2020
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Peters, O.A.J. (author)
Dry transporting large heavy floating structures has been an important development in the innovative history of Heavy Marine Transport. This is done by carrying these type of cargoes on the deck of Heavy Transport Vessels. Loading and discharge is preformed by submerging the transport vessel, and positioning the cargo above the deck using tugger...
doctoral thesis 2019
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Hou, Xiaojun (author)
The development of the high-tech industry has pushed the requirements of motion applications to extremes regarding precision, speed and robustness. A clear example is given by the wafer and reticle stages that require rigorous demands like robust nanometer precision and high-speed motion profiles to ensure product quality and production...
master thesis 2019
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Haak, Kasper (author)
In modern society cars are one of the most important means of transportation. Unfortunately, many people die in car accidents around the world. Research shows that the number of fatal casualties in car accidents has been increasing for the past decade and that the largest cause of these accidents is the human driver. For this reason, research on...
master thesis 2019
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Huang, Y. (author)
In advanced robotic applications such as robotic locomotion, vehicle and flight simulators, and material test devices, there are higher requirements on stiffness, robustness and power ability for the mechanical structure and the actuator. Hence, it is common for such applications to use parallel manipulators and hydraulic actuators, due to their...
doctoral thesis 2019
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Huang, Y. (author), Pool, D.M. (author), Stroosma, O. (author), Chu, Q. P. (author)
High precision motion control of hydraulic manipulators is challenging due to the highly nonlinear dynamics and model uncertainties typical for hydraulic actuators. This paper addresses the implementation of a novel sensor-based incremental nonlinear dynamic inversion control technique for a high-precision hydraulic force controller in existence...
journal article 2019
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Chen, Linda (author), Saikumar, N. (author), Hossein Nia Kani, S.H. (author)
In this paper, a framework for the combination of robust fractional-order CRONE control with nonlinear reset is given for both first and second generation CRONE control. General design rules are derived and presented for these CRONE reset controllers. Within this framework, fractional-order control allows for better tuning of the open-loop...
journal article 2019
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Wang, L. (author), Wu, Qing (author), Liu, Jialun (author), Li, Shijie (author), Negenborn, R.R. (author)
At present, with the development of waterborne transport vehicles, research on ship faces a new round of challenges in terms of intelligence and autonomy. The concept of maritime autonomous surface ships (MASS) has been put forward by the International Maritime Organization in 2017, in which MASS become the new focus of the waterborne...
journal article 2019
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Wang, L. (author), Wu, Qing (author), Liu, Jialun (author), Li, Shijie (author), Negenborn, R.R. (author)
Intelligent motion control is one of the key technologies of ships. This paper studies the application of Adaptive Mutation Beetle Particle Swarm (AMBPS)-PID algorithm in ship motion control. Firstly, the ship MMG model is established. Then the BAS algorithm is introduced, and AMBPS algorithm is improved and designed on this basis. Secondly,...
journal article 2019
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Akyiiz, Erdi (author), Saikumar, N. (author), Hossein Nia Kani, S.H. (author)
The high tech industry which requires fast stable motion with nanometer precision continues to mainly use PID which is limited by fundamental linear control limitations. Floor vibrations as disturbance significantly affect performance and their rejection is particularly affected by these limitations. Reset control has provided a promising...
journal article 2019
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Saikumar, N. (author), Sinha, Rahul Kumar (author), Hossein Nia Kani, S.H. (author)
This paper presents a novel 'Constant in gain Lead in phase' (CgLp) element using nonlinear reset technique. PID is the industrial workhorse even to this day in high-tech precision positioning applications. However, Bode's gain phase relationship and waterbed effect fundamentally limit performance of PID and other linear controllers. This...
journal article 2019
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Brouwer, Daniël (author)
Mechatronic embedded control systems are becoming increasingly sophisticated and computationally demanding. These systems typically consists of multiple controllers, which coordinate the actuators and apply feedback based on data collected by sensors. Often the underlying control strategy is entirely described in a software application, which...
master thesis 2018
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Floor, Boaz (author)
Motion planning for Autonomous Ground Vehicles (AGVs) in dynamic environments is an extensively studied and complex problem. State of the art methods provide approximate solutions that make conservative assumptions to provide safety and feasibility. We aim to outperform current methods by following a trajectory optimization-based approach,...
master thesis 2018
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Salman, Yusuf (author)
The high-tech industry is pushing the motion system technology towards faster, more precise and more robust system. One of the keys to this growing demand is the advancement of motion control. To this day, Proportional-Integral-Derivative (PID) has been the workhorse for the industry system control. This is because PID is simple to design and...
master thesis 2018
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van Duist, Lennart (author), van der Gugten, Gijs (author), Toten, Daan (author), Saikumar, N. (author), Hossein Nia Kani, S.H. (author)
A novel toolbox named FLOreS is presented for intuitive design of fractional order controllers (FOC) using industry standard loop shaping technique. This will allow control engineers to use frequency response data (FRD) of the plant to design FOCs by shaping the open loop to meet the necessary specifications of stability, robustness, tracking...
journal article 2018
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Vermeer, Job (author), Alaka, Shaad (author), de Bruin, Niels (author), Miedema, Nico Arjen (author), Winnubst, Nick (author), Trap, Cyril (author), Bidarra, A.R. (author)
League of Lasers is a motion-based game where two teams compete in a mix between football and Pong [2]. Players use `virtual mirrors' to try to guide a laser pulse towards the opponent team's target. The game aims at stimulating interaction between players by making cooperation a vital part of the gameplay, while having them physically move...
conference paper 2018
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Kapitanyuk, Yuri A. (author), Proskurnikov, A.V. (author), Cao, Ming (author)
In this paper, we propose an algorithm for path-following control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level set of a predefined smooth function. Using this function and the robot's kinematic model, we design a...
journal article 2018
Searched for: subject:"Motion%5C+Control"
(1 - 20 of 35)

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