The Experts below are selected from a list of 360 Experts worldwide ranked by ideXlab platform

H. Nijmeijer - One of the best experts on this subject based on the ideXlab platform.

  • mitigation in a piecewise linear beam system
    2011
    Co-Authors: R. H. B. Fey, H. Nijmeijer
    Abstract:

    Control using Proportional and/or Derivative feedback (PD-Control) is applied on a piecewise linear beam system with a flushing one-sided spring element for steady-state vibration amplitude mitigation. Two Control objectives are formulated: 1) minimize the transversal vibration amplitude of the midpoint of the beam at the frequency where the first harmonic resonance occurs, 2) achieve this in a larger (low) excitation frequency range, where the lowest nonlinear normal mode dominates the response. Experimentally realizable combinations of PD-Control are evaluated for both Control objectives. Eventually objective 1) is realized by applying Proportional Control only, whereas Derivative Control is selected to realize objective 2). The vibration reduction that is achieved in simulations and validated by experiments is very significant for both objectives. Cur- rent results obtained with active PD-Control are compared with earlier results obtained using a pas- sive Dynamic Vibration Absorber.

  • reduction of steady state vibrations in a piecewise linear beam system using proportional and Derivative Control
    World scientific series on nonlinear science. Series B, 2010
    Co-Authors: Rhb Rob Fey, R. M. T. Wouters, H. Nijmeijer
    Abstract:

    Control based on Proportional and/or Derivative feedback (PD Control) is successfully applied to a piecewise linear beam system in order to reduce steady-state vibration amplitudes. Two Control objectives are formulated: 1) to minimize the transversal vibration amplitude of the midpoint of the beam at the frequency where the first harmonic resonance occurs, and 2) to achieve this in a larger excitation frequency range. The vibration reduction that is achieved in simulations and validated by experiments is very significant for both objectives. Current results obtained with active PD Control are compared with earlier results obtained using a passive linear Dynamic Vibration Absorber.

  • Proportional and Derivative Control for steady-state vibration mitigation in a piecewise linear beam system
    Nonlinear Dynamics, 2009
    Co-Authors: R. H. B. Fey, R. M. T. Wouters, H. Nijmeijer
    Abstract:

    A Control using Proportional and/or Derivative feedback (PD-Control) is applied on a piecewise linear beam system with a flushing one-sided spring element for steady-state vibration amplitude mitigation. Two Control objectives are formulated: (1) minimize the transversal vibration amplitude of the midpoint of the beam at the frequency where the first harmonic resonance occurs, (2) achieve this in a larger (low) excitation frequency range, where the lowest nonlinear normal mode dominates the response. Experimentally realizable combinations of PD-Control are evaluated for both Control objectives. Eventually objective (1) is realized by applying proportional Control only, whereas Derivative Control is selected to realize objective (2). The vibration reduction that is achieved in simulations and validated by experiments is very significant for both objectives. Current results obtained with active PD-Control are compared with earlier results obtained using a passive dynamic vibration absorber.

Youyi Wang - One of the best experts on this subject based on the ideXlab platform.

  • Reset Integral-Derivative Control for HDD Servo Systems
    IEEE Transactions on Control Systems Technology, 2007
    Co-Authors: Daowei Wu, Youyi Wang
    Abstract:

    Ever-decreasing track width to nanometer level becomes a great challenge for servo systems to fulfill short-span seeking and track-following in hard-disk drives (HDDs). This paper utilizes the reset integral-Derivative element (RIDE), an integral-Derivative Controller whose states are set to zero when its input is zero, in both single- and dual-stage HDD servo systems. The RIDE can reduce the overshoot of step response, which will speed up the short-span seeking operation. Furthermore, the capability to suppress output disturbances in track-following is also found to be improved. Compared with linear Control methods for short-span seeking, our results show that the merits of reset design are the simpleness in implementation and the robustness to plant uncertainties

Mark W. Spong - One of the best experts on this subject based on the ideXlab platform.

  • Passive Bilateral Teleoperation With Constant Time Delay
    IEEE Transactions on Robotics, 2006
    Co-Authors: Dongjun Lee, Mark W. Spong
    Abstract:

    We propose a novel Control framework for bilateral teleoperation of a pair of multi-degree-of-freedom nonlinear robotic systems under constant communication delays. The proposed framework uses the simple proportional-Derivative Control, i.e., the master and slave robots are directly connected via spring and damper over the delayed communication channels. Using the Controller passivity concept, the Lyapunov-Krasovskii technique, and Parseval's identity, we can passify the combination of the delayed communication and Control blocks altogether robustly, as long as the delays are finite constants and an upper bound for the round-trip delay is known. Having explicit position feedback through the delayed P-action, the proposed framework enforces master-slave position coordination, which is often compromised in the conventional scattering-based teleoperation. The proposed Control framework provides humans with extended physiological proprioception, so that s/he can affect and sense the remote slave environments mainly relying on her/his musculoskeletal systems. Simulation and experiments are performed to validate and highlight properties of the proposed Control framework

  • Passive bilateral teleoperation with constant time delay,” Robotics
    2006
    Co-Authors: Dongjun Lee, Mark W. Spong
    Abstract:

    Abstract—We propose a novel Control framework for bilateral teleoperation of a pair of multi-degree-of-freedom nonlinear robotic systems under constant communication delays. The pro-posed framework uses the simple proportional-Derivative Control, i.e., the master and slave robots are directly connected via spring and damper over the delayed communication channels. Using the Controller passivity concept, the Lyapunov–Krasovskii technique, and Parseval’s identity, we can passify the combination of the delayed communication and Control blocks altogether robustly, as long as the delays are finite constants and an upper bound for the round-trip delay is known. Having explicit position feedback through the delayed P-action, the proposed framework enforces master–slave position coordination, which is often compromised in the conventional scattering-based teleoperation. The proposed Control framework provides humans with extended physiological proprioception, so that s/he can affect and sense the remote slave environments mainly relying on her/his musculoskeletal systems. Simulation and experiments are performed to validate and high-light properties of the proposed Control framework. Index Terms—Bilateral teleoperation, communication de-lays, extended physiological proprioception (EPP), Lyapunov

Asif Sabanovic - One of the best experts on this subject based on the ideXlab platform.

  • a study on robustness property of sliding mode Controllers a novel design and experimental investigations
    IEEE Transactions on Industrial Electronics, 1999
    Co-Authors: Kemalettin Erbatur, M O Kaynak, Asif Sabanovic
    Abstract:

    The robustness property of sliding-mode Controllers (SMCs) makes them attractive for industrial Control applications. However, this property is valid only under ideal sliding-mode conditions. Additionally, practical SMCs are likely to exhibit high-frequency oscillations in the plant output, called chattering, and to excite unmodeled dynamics. A novel, chattering-free sliding-mode Control algorithm design, based on Lyapunov stability criteria, is considered in this paper. The Control algorithm developed is experimentally implemented on a direct-drive manipulator for various payload configurations. It is seen that the Controller carries a certain amount of robustness property, the trajectory-following performance being only slightly affected by the changes in the payload. A comparison of the experimental results with those obtained by a well-tuned proportional-Derivative Control is also given.

R. M. T. Wouters - One of the best experts on this subject based on the ideXlab platform.

  • reduction of steady state vibrations in a piecewise linear beam system using proportional and Derivative Control
    World scientific series on nonlinear science. Series B, 2010
    Co-Authors: Rhb Rob Fey, R. M. T. Wouters, H. Nijmeijer
    Abstract:

    Control based on Proportional and/or Derivative feedback (PD Control) is successfully applied to a piecewise linear beam system in order to reduce steady-state vibration amplitudes. Two Control objectives are formulated: 1) to minimize the transversal vibration amplitude of the midpoint of the beam at the frequency where the first harmonic resonance occurs, and 2) to achieve this in a larger excitation frequency range. The vibration reduction that is achieved in simulations and validated by experiments is very significant for both objectives. Current results obtained with active PD Control are compared with earlier results obtained using a passive linear Dynamic Vibration Absorber.

  • Proportional and Derivative Control for steady-state vibration mitigation in a piecewise linear beam system
    Nonlinear Dynamics, 2009
    Co-Authors: R. H. B. Fey, R. M. T. Wouters, H. Nijmeijer
    Abstract:

    A Control using Proportional and/or Derivative feedback (PD-Control) is applied on a piecewise linear beam system with a flushing one-sided spring element for steady-state vibration amplitude mitigation. Two Control objectives are formulated: (1) minimize the transversal vibration amplitude of the midpoint of the beam at the frequency where the first harmonic resonance occurs, (2) achieve this in a larger (low) excitation frequency range, where the lowest nonlinear normal mode dominates the response. Experimentally realizable combinations of PD-Control are evaluated for both Control objectives. Eventually objective (1) is realized by applying proportional Control only, whereas Derivative Control is selected to realize objective (2). The vibration reduction that is achieved in simulations and validated by experiments is very significant for both objectives. Current results obtained with active PD-Control are compared with earlier results obtained using a passive dynamic vibration absorber.