The Experts below are selected from a list of 246 Experts worldwide ranked by ideXlab platform

George T C Chiu - One of the best experts on this subject based on the ideXlab platform.

  • adaptive robust motion control of single rod hydraulic actuators theory and experiments
    IEEE-ASME Transactions on Mechatronics, 2000
    Co-Authors: Bin Yao, Fanping Bu, J Reedy, George T C Chiu
    Abstract:

    High-performance robust motion control of single-rod hydraulic actuators with constant unknown inertia load is considered. The two chambers of a single-rod actuator have different areas, so the dynamic equations describing the pressure changes in them cannot be combined into a single load pressure equation. This complicates controller design since it not only increases the system dimension but also brings in the stability issue of the added internal dynamics. A discontinuous projection-based adaptive robust controller (ARC) is constructed. The controller takes into account not only the effect of parameter variations coming from the inertia load and various hydraulic parameters but also the effect of hard-to-model nonlinearities such as uncompensated friction forces and external disturbances. It guarantees a prescribed output tracking transient performance and final tracking accuracy in general while achieving asymptotic output tracking in the presence of parametric uncertainties. In addition, the zero error dynamics for tracking any nonzero constant velocity trajectory is shown to be globally uniformly stable. Experimental results are obtained for the swing motion control of a hydraulic arm and verify the high-performance nature of the proposed strategy. In comparison to a state-of-the-art industrial motion controller, the proposed algorithm achieves more than a magnitude reduction of tracking errors. Furthermore, during the constant velocity portion of the motion, it reduces the tracking errors almost down to the Measurement Resolution level.

  • adaptive robust motion control of single rod hydraulic actuators theory and experiments
    American Control Conference, 1999
    Co-Authors: Fanping Bu, J Reedy, George T C Chiu
    Abstract:

    High performance robust motion control of single-rod hydraulic actuators is considered. In contrast to the double-rod hydraulic actuators studied previously, the two chambers of a single-rod hydraulic actuator have different areas. As a result, the dynamic equations describing the pressure changes in the two chambers cannot be combined into a single load pressure equation. This complicates the controller design since it not only increases the dimension of the system to be dealt with but also brings in the stability issue of the added internal dynamics. A discontinuous projection based adaptive robust controller (ARC) is constructed. The controller is able to take into account not only the effect of parameter variations coming from the inertia load and various hydraulic parameters but also the effect of hard-to-model nonlinearities such as uncompensated friction forces and external disturbances. Extensive experimental results are obtained for the swing motion control of a hydraulic arm. In comparison to a state-of-the-art industrial motion controller, the proposed ARC algorithm achieves more than a magnitude reduction of tracking errors. Furthermore, during constant velocity and regulation periods, the ARC controller reduces the tracking errors almost down to the Measurement Resolution level.

Fanping Bu - One of the best experts on this subject based on the ideXlab platform.

  • adaptive robust motion control of single rod hydraulic actuators theory and experiments
    IEEE-ASME Transactions on Mechatronics, 2000
    Co-Authors: Bin Yao, Fanping Bu, J Reedy, George T C Chiu
    Abstract:

    High-performance robust motion control of single-rod hydraulic actuators with constant unknown inertia load is considered. The two chambers of a single-rod actuator have different areas, so the dynamic equations describing the pressure changes in them cannot be combined into a single load pressure equation. This complicates controller design since it not only increases the system dimension but also brings in the stability issue of the added internal dynamics. A discontinuous projection-based adaptive robust controller (ARC) is constructed. The controller takes into account not only the effect of parameter variations coming from the inertia load and various hydraulic parameters but also the effect of hard-to-model nonlinearities such as uncompensated friction forces and external disturbances. It guarantees a prescribed output tracking transient performance and final tracking accuracy in general while achieving asymptotic output tracking in the presence of parametric uncertainties. In addition, the zero error dynamics for tracking any nonzero constant velocity trajectory is shown to be globally uniformly stable. Experimental results are obtained for the swing motion control of a hydraulic arm and verify the high-performance nature of the proposed strategy. In comparison to a state-of-the-art industrial motion controller, the proposed algorithm achieves more than a magnitude reduction of tracking errors. Furthermore, during the constant velocity portion of the motion, it reduces the tracking errors almost down to the Measurement Resolution level.

  • adaptive robust motion control of single rod hydraulic actuators theory and experiments
    American Control Conference, 1999
    Co-Authors: Fanping Bu, J Reedy, George T C Chiu
    Abstract:

    High performance robust motion control of single-rod hydraulic actuators is considered. In contrast to the double-rod hydraulic actuators studied previously, the two chambers of a single-rod hydraulic actuator have different areas. As a result, the dynamic equations describing the pressure changes in the two chambers cannot be combined into a single load pressure equation. This complicates the controller design since it not only increases the dimension of the system to be dealt with but also brings in the stability issue of the added internal dynamics. A discontinuous projection based adaptive robust controller (ARC) is constructed. The controller is able to take into account not only the effect of parameter variations coming from the inertia load and various hydraulic parameters but also the effect of hard-to-model nonlinearities such as uncompensated friction forces and external disturbances. Extensive experimental results are obtained for the swing motion control of a hydraulic arm. In comparison to a state-of-the-art industrial motion controller, the proposed ARC algorithm achieves more than a magnitude reduction of tracking errors. Furthermore, during constant velocity and regulation periods, the ARC controller reduces the tracking errors almost down to the Measurement Resolution level.

J Reedy - One of the best experts on this subject based on the ideXlab platform.

  • adaptive robust motion control of single rod hydraulic actuators theory and experiments
    IEEE-ASME Transactions on Mechatronics, 2000
    Co-Authors: Bin Yao, Fanping Bu, J Reedy, George T C Chiu
    Abstract:

    High-performance robust motion control of single-rod hydraulic actuators with constant unknown inertia load is considered. The two chambers of a single-rod actuator have different areas, so the dynamic equations describing the pressure changes in them cannot be combined into a single load pressure equation. This complicates controller design since it not only increases the system dimension but also brings in the stability issue of the added internal dynamics. A discontinuous projection-based adaptive robust controller (ARC) is constructed. The controller takes into account not only the effect of parameter variations coming from the inertia load and various hydraulic parameters but also the effect of hard-to-model nonlinearities such as uncompensated friction forces and external disturbances. It guarantees a prescribed output tracking transient performance and final tracking accuracy in general while achieving asymptotic output tracking in the presence of parametric uncertainties. In addition, the zero error dynamics for tracking any nonzero constant velocity trajectory is shown to be globally uniformly stable. Experimental results are obtained for the swing motion control of a hydraulic arm and verify the high-performance nature of the proposed strategy. In comparison to a state-of-the-art industrial motion controller, the proposed algorithm achieves more than a magnitude reduction of tracking errors. Furthermore, during the constant velocity portion of the motion, it reduces the tracking errors almost down to the Measurement Resolution level.

  • adaptive robust motion control of single rod hydraulic actuators theory and experiments
    American Control Conference, 1999
    Co-Authors: Fanping Bu, J Reedy, George T C Chiu
    Abstract:

    High performance robust motion control of single-rod hydraulic actuators is considered. In contrast to the double-rod hydraulic actuators studied previously, the two chambers of a single-rod hydraulic actuator have different areas. As a result, the dynamic equations describing the pressure changes in the two chambers cannot be combined into a single load pressure equation. This complicates the controller design since it not only increases the dimension of the system to be dealt with but also brings in the stability issue of the added internal dynamics. A discontinuous projection based adaptive robust controller (ARC) is constructed. The controller is able to take into account not only the effect of parameter variations coming from the inertia load and various hydraulic parameters but also the effect of hard-to-model nonlinearities such as uncompensated friction forces and external disturbances. Extensive experimental results are obtained for the swing motion control of a hydraulic arm. In comparison to a state-of-the-art industrial motion controller, the proposed ARC algorithm achieves more than a magnitude reduction of tracking errors. Furthermore, during constant velocity and regulation periods, the ARC controller reduces the tracking errors almost down to the Measurement Resolution level.

Bin Yao - One of the best experts on this subject based on the ideXlab platform.

  • adaptive robust motion control of single rod hydraulic actuators theory and experiments
    IEEE-ASME Transactions on Mechatronics, 2000
    Co-Authors: Bin Yao, Fanping Bu, J Reedy, George T C Chiu
    Abstract:

    High-performance robust motion control of single-rod hydraulic actuators with constant unknown inertia load is considered. The two chambers of a single-rod actuator have different areas, so the dynamic equations describing the pressure changes in them cannot be combined into a single load pressure equation. This complicates controller design since it not only increases the system dimension but also brings in the stability issue of the added internal dynamics. A discontinuous projection-based adaptive robust controller (ARC) is constructed. The controller takes into account not only the effect of parameter variations coming from the inertia load and various hydraulic parameters but also the effect of hard-to-model nonlinearities such as uncompensated friction forces and external disturbances. It guarantees a prescribed output tracking transient performance and final tracking accuracy in general while achieving asymptotic output tracking in the presence of parametric uncertainties. In addition, the zero error dynamics for tracking any nonzero constant velocity trajectory is shown to be globally uniformly stable. Experimental results are obtained for the swing motion control of a hydraulic arm and verify the high-performance nature of the proposed strategy. In comparison to a state-of-the-art industrial motion controller, the proposed algorithm achieves more than a magnitude reduction of tracking errors. Furthermore, during the constant velocity portion of the motion, it reduces the tracking errors almost down to the Measurement Resolution level.

Denis Donlagic - One of the best experts on this subject based on the ideXlab platform.

  • miniature fiber optic fabry perot refractive index sensor for gas sensing with a Resolution of 5x10 9 riu
    Optics Express, 2018
    Co-Authors: Simon Pevec, Denis Donlagic
    Abstract:

    This paper presents a micro-machined, high-Resolution refractive index sensor suitable for monitoring of small changes in the composition of gases. Experimentally demonstrated Measurement Resolution, induced by gas composition variation, proved to be in the range of 5x10-9 of a Refractive Index Unit (RIU). The proposed all-silica, all-fiber sensor consists of an open-path Fabry-Perot micro-cavity that includes an in-fiber collimation and temperature-sensing segment. It is shown that a sensor’s Resolution depends strongly on the signal interrogator’s properties and that, for a given interrogator, there is an optimum Fabry-Perot cavity length that yields the highest system Resolution. Furthermore, high-Resolution pressure and in situ temperature compositions of Measurement results are required to obtain an unambiguous correlation between the gas composition and measured Refractive Index within the presented Resolution range.

  • High Resolution, all-fiber, micro-machined sensor for simultaneous Measurement of refractive index and temperature
    Optics Express, 2014
    Co-Authors: Simon Pevec, Denis Donlagic
    Abstract:

    This paper presents a highly-sensitive, miniature, all-silica, dual parameter fiber-optic Fabry-Perot sensor, which is suitable for independent Measurement of the refractive index and the temperature of the fluid surrounding the sensor. The experimental sensor was produced by a micromachining process based on the selective etching of doped silica glass and a simple assembly procedure that included fiber cleaving, splicing and etching of optical fibers. The presented sensor also allows for direct compensation of the temperature’s effect on the fluid’s refractive index change and consequently provides opportunities for the detection of very small changes in the surrounding fluid’s composition. A Measurement Resolution of 2x10−7RIU was demonstrated experimentally for a component of the refractive index that is related purely to the fluid’s composition. This Resolution was achieved under non-stabilized temperature conditions. The temperature Resolution of the sensor proved to be about 10−3°C. These high Resolution Measurements were obtained by phase-tracking of characteristic components in a Fourier transform of sensor’s optical spectrum.