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- Abkowitz, Martin A. (author) book 1969
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Rotariu, I. (author), Steinbuch, M. (author), Ellenbroek, R. (author)Iterative learning control (ILC) is a very effective technique to reduce systematic errors that occur in systems that repetitively perform the same motion or operation. However, several characteristics have prevented standard ILC from being widely used for high precision motion systems. Most importantly, the learned feedforward signal depends on...journal article 2008
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Khan, S. (author), Sabanovic, A. (author), Nergiz, A.O. (author)In this paper, the design of a discrete-time sliding-mode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion. A linear model of a piezostage was used with nominal parameters to compensate the disturbance acting on the system in order to achieve...journal article 2009
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Mugge, W. (author), Abbink, D.A. (author), Schouten, A.C. (author), Dewald, J.P.A. (author), Van der Helm, F.C.T. (author)This study aims to quantify the separate contributions of muscle force feedback, muscle spindle activity and co-contraction to the performance of voluntary tasks (‘‘reduce the influence of perturbations on maintained force or position’’). Most human motion control studies either isolate only one contributor, or assume that relevant reflexive...journal article 2009
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Simons, D.G. (author), Bergers, M.M.C. (author), Henrion, S. (author), Hulzenga, J.I.J. (author), Jutte, R.W. (author), Pas, W.M.G. (author), Van Schravendijk, M. (author), Vercruyssen, T.G.A. (author), Wilken, A.P. (author)An autonomous underwater vehicle with a biomechanical propulsion system is a possible answer to the demand for small, silent sensor platforms in many fields. The design of Galatea, a bio-mimetic AUV, involves four aspects: hydrodynamic shape, the propulsion, the motion control systems and payload. The shape of the hull is based on a modified...conference paper 2009
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Van Deyzen, A.F.J. (author)The demand to sail at high forward speeds in both calm water and in a seaway remains high. For various patrol, search and rescue or military operations attaining high forward speeds is essential. In head and bow quartering seas, the main factor for voluntary speed reduction is the occurrence of large vertical peak accelerations. The occurrence...doctoral thesis 2014
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Chao, Q. (author), Yu, J (author), Dai, C. (author), Xu, T (author), Zhang, L. (author), Wang, C.C. (author), Jin, X. (author)We present a general solution for steering microrobotic<br/>swarm by dynamic actuating fields. In our approach, the<br/>motion of micro-robots is controlled by changing the actuating<br/>direction of a field applied to them. The time-series sequence<br/>of actuating field’s directions can be computed automatically.<br/>Given a target position in...conference paper 2016
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Huisman, Robert (author), Paalvast, Sander (author), Brandl, B.R. (author), Van Den Dool, Teun (author), Eggens, Martin (author), Janssen, Huub (author), Aitink-Kroes, Gabby (author), Molster, Frank (author), Teuwen, Maurice (author), Venema, Lars (author), Jayawardhana, Bayu (author)We present the main results of the performance test campaign of the Mid-Infrared European Extremely Large Telescope Imager and Spectrograph (METIS) Cold Chopper Demonstrator (MCCD). This tip/tilt mirror, which operates at a temperature of 77 K, is one of the critical components in the METIS for the European Extremely Large Telescope. The...journal article 2016
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Kapitanyuk, Yuri A. (author), Garcia de Marina, Hector (author), Proskurnikov, A.V. (author), Cao, Ming (author)This paper presents a guidance algorithm solving the problem of moving path following, that is, steering a mobile robot to a curvilinear path attached to a moving frame. The nonholonomic robot is described by the unicycle-type model under the influence of some constant exogenous disturbance. The desired path may be an arbitrary smooth curve...conference paper 2017
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Huang, Y. (author), Pool, D.M. (author), Stroosma, O. (author), Chu, Q. P. (author)Hydraulic driven manipulators face serious control problems due to the nonlinear system dynamics and model and parametric uncertainties of hydraulic actuators. In this paper, a novel sensor-based Incremental Nonlinear Dynamic Inversion controller is applied to force tracking control of hydraulic actuators of a hexapod flight simulator motion...conference paper 2017
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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
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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, Rafael (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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Manschitz, Simon (author), Gienger, Michael (author), Kober, J. (author), Peters, Jan (author)In this letter, we introduce Mixture of Attractors, a novel movement primitive representation that allows for learning complex object-relative movements. The movement primitive representation inherently supports multiple coordinate frames, enabling the system to generalize a skill to unseen object positions and orientations. In contrast to...journal article 2018
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van Duist, Lennart (author), van der Gugten, Gijs (author), Toten, Daan (author), Saikumar, N. (author), Hassan HosseinNia, S. (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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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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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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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), Hassan HosseinNia, S. (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), Hassan HosseinNia, S. (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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Chen, Linda (author), Saikumar, N. (author), Hassan HosseinNia, S. (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