Journal ArticleDOI
A simple nonlinear velocity estimator for high-performance motion control
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TLDR
The proposed new simple NVE has built a solid base for high-performance control of servo systems and is model free, which has high robustness against noise and design parameters.Abstract:
Based on the fact that numerical integration can provide more stable and accurate results than numerical differentiation in the presence of noise, a constructive nonlinear velocity estimator (NVE) with simple computation is developed for high-quality instantaneous velocity estimation, based on the position measurement only. The attraction of the new velocity estimator is that it is very effective as well in the low-velocity ranges, it has high robustness against noise and design parameters, and it is easy to implement. Furthermore, the developed approach is model free. Both simulation and experimental tests have been run to verify its effectiveness and efficiency. The proposed new simple NVE has built a solid base for high-performance control of servo systems.read more
Citations
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Journal ArticleDOI
Generalized Extended State Observer Based Control for Systems With Mismatched Uncertainties
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Low-Frequency Learning and Fast Adaptation in Model Reference Adaptive Control
Tansel Yucelen,Wassim M. Haddad +1 more
TL;DR: This work presents a new adaptive control architecture for nonlinear uncertain dynamical systems to address the problem of achieving fast adaptation using high-gain learning rates and shows that transient and steady-state system performance is guaranteed with the proposed architecture.
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On convergence of tracking differentiator
Bao-Zhu Guo,Zhi-Liang Zhao +1 more
TL;DR: An application for online estimation of the unknown frequencies for the finite sum of the sinusoidal signals is presented and the numerical simulations illustrate the effectiveness of the estimation for both linear and nonlinear tracking differentiators.
Journal ArticleDOI
Comments on Active Disturbance Rejection Control
TL;DR: Comments on active disturbance rejection control are presented in four aspects as follows: (1) tracking differentiator; (2) nonlinear combination of proportional, integral, and differential errors; (3) extended state observer; and (4) disturbance rejection.
Journal ArticleDOI
RISE-Based Adaptive Control of Hydraulic Systems With Asymptotic Tracking
TL;DR: An adaptive compensation with a robust integral of the sign of the error (RISE) feedback is developed for high precise tracking control of hydraulic motion system to handle parametric uncertainty and RISE robust term to attenuate unmodeled disturbance.
References
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Lennart Harnefors,Hans-Peter Nee +1 more
TL;DR: A computationally efficient speed and position estimation algorithm, generally applicable to AC motor drives, is designed and analyzed, and low parameter sensitivity in the entire speed range is found.
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Discrete-time adaptive windowing for velocity estimation
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Journal ArticleDOI
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Han Jing-Qing,Wang Wei +1 more
TL;DR: In this article, the authors discuss the problem of getting continuous signal and differential signal properly from the singal which is not differentiable and give the general form and some kinds of concrete realization of nonlinear tracking-differentiator.
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