Nonlinear drive model

This paper presents a method to design a time-varying parameter PID controller for Bézier trajectory tracking of a differential-drive mobile robot (DDMR). First, the robot's linear error model is established by linearizing around the desired angular velocity of the nonlinear kinematic error model. Then, the variable parameter PID controller is designed to control the DDMR to follow the Bézier trajectory with minor error under the condition of time-varying velocity.

11p dathienlang1012 03-05-2024 4 2   Download

This paper proposes a method to identify the sum of nonlinear effects and disturbances for the hydraulic drive system, which uses the axial piston pump, based on the application of the Radial Basic Functions neural network (RBF) and state observer model.

5p vigojek 02-02-2024 2 2   Download

In this study, a control system is proposed for the induction servomotor to achieve the highprecision speed tracking based on wavelet fuzzy cerebellar model articulation controller. In this proposed scheme, the wavelet fuzzy cerebellar model articulation controller (WFCMAC) is used to imitate an ideal controller due to it incorporates the advantages of the wavelet decomposition property with a fuzzy CMAC fast learning ability and the smooth compensator controller with bound estimation is designed to attenuate the effect of the approximation error caused by the WFCMAC approximator.

13p vimarillynhewson 02-01-2024 3 3   Download

Switched reluctance motor (SRM) has many advantages with very strong nonlinearity, hence it is difficult to control. This paper presents a new method to control the speed of switched reluctance motor based on backstepping technique and nonlinear state observation. This controller is first applied for switched reluctance motor with nonlinear drive model.

15p vidudley 20-02-2023 8 2   Download

In this article, nonlinear dynamic modeling and investigation into the effects of different driving rules on dynamic behavior of a single flexible link manipulator are presented. Dynamic equations are derived from finite element method based on Lagrange approach.

5p vispyker 16-11-2022 8 2   Download

This paper deals with an identification model control system using recurrent neural networks to estimate the angle main mirror in azimuth moving of large radio telescope electric servo drive. The architectural approached to design recurrent neural networks based on “Nonlinear Auto Regressive with Exogenous inputs – NARX models” is analyzed. It is convenient to apply this design in the field of prediction and modeling control system.

6p visumika2711 17-07-2019 28 1   Download

The efficient and effective speed controllers can be designed by using adaptive control techniques. In which the conventional PI controller is replaced by structures based on Sliding Mode Control (SMC) strategy. SMC is known for its capability to cope with bounded disturbance as well as model imprecision which makes it ideal for the robust nonlinear control of IM drives.

8p girlsseek 27-02-2019 38 1   Download

this book also covers: analysis of converters used in electric drive systems, as well as dc, induction, and brushless dc motor drives; detailed treatment of supervisory down to switch level converter controls, nonlinear average value modeling of converters and drive systems, operational impedances and reduced-order modeling, guidelines for computer simulation of machines and drive systems.

327p bautroibinhyen19 27-02-2017 75 9   Download

since the first edition of analysis of electric machinery was published, the reference frame theory that was detailed in the book has become the universally accepted approach for the analysis of both electric machines and electric drive systems. now in its second edition, analysis of electric machinery and drive systems presents, in one resource, the application of this theory to the analysis, simulation, and design of the complete drive system including the machine, converter, and control.

305p bautroibinhyen19 27-02-2017 68 9   Download

Abstract. We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking feedback control law based on dynamic feedback linearization is sucient to stabilize the system and ensure asymptotically stable tracking.

0p khangoc2393 13-08-2012 73 4   Download