scholarly journals A Robust Double Closed-Loop Control Scheme for PMLSM Drives

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 62645-62654 ◽  
Author(s):  
Ming-Yi Wang ◽  
Yu-Jie Niu ◽  
Rui Yang ◽  
Qiang Tan ◽  
Jia-Lin Jiang ◽  
...  
Keyword(s):  
Closed Loop ◽  
Closed Loop Control ◽  
Loop Control ◽  
Control Scheme

scholarly journals A Multiposture Locomotor Training Device with Force-Field Control

2014 ◽  
Vol 6 ◽  
pp. 173518 ◽  
Author(s):  
Jianfeng Sui ◽  
Yali Liu ◽  
Runze Yang ◽  
Linhong Ji
Keyword(s):  
Lower Limb ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Locomotor Training ◽  
Training Device ◽  
Loop Control ◽  
Lower Limb Exoskeleton ◽  
Weight Support ◽  
Control Scheme ◽  
Field Control

This paper introduces a multiposture locomotor training device (MPLTD) with a closed-loop control scheme based on joint angle feedback, which is able to overcome various difficulties resulting from mechanical vibration and the weight of trainer to achieve higher accuracy trajectory. By introducing the force-field control scheme used in the closed-loop control, the device can obtain the active-constrained mode including the passive one. The MPLTD is mainly composed of three systems: posture adjusting and weight support system, lower limb exoskeleton system, and control system, of which the lower limb exoskeleton system mainly includes the indifferent equilibrium mechanism with two degrees of freedom (DOF) and the driving torque is calculated by the Lagrangian function. In addition, a series of experiments, the weight support and the trajectory accuracy experiment, demonstrate a good performance of mechanical structure and the closed-loop control.

scholarly journals Closed-loop control of soft continuum manipulators under tip follower actuation

2021 ◽  
pp. 027836492199716
Author(s):  
Federico Campisano ◽  
Simone Caló ◽  
Andria A. Remirez ◽  
James H. Chandler ◽  
Keith L. Obstein ◽  
...  
Keyword(s):  
Closed Loop ◽  
Kinematic Model ◽  
Path Following ◽  
External Loading ◽  
Closed Loop Control ◽  
Loop Control ◽  
Actuation System ◽  
Control Scheme ◽  
Continuum Manipulators ◽  
Continuum Manipulator

Continuum manipulators, inspired by nature, have drawn significant interest within the robotics community. They can facilitate motion within complex environments where traditional rigid robots may be ineffective, while maintaining a reasonable degree of precision. Soft continuum manipulators have emerged as a growing subfield of continuum robotics, with promise for applications requiring high compliance, including certain medical procedures. This has driven demand for new control schemes designed to precisely control these highly flexible manipulators, whose kinematics may be sensitive to external loads, such as gravity. This article presents one such approach, utilizing a rapidly computed kinematic model based on Cosserat rod theory, coupled with sensor feedback to facilitate closed-loop control, for a soft continuum manipulator under tip follower actuation and external loading. This approach is suited to soft manipulators undergoing quasi-static deployment, where actuators apply a follower wrench (i.e., one that is in a constant body frame direction regardless of robot configuration) anywhere along the continuum structure, as can be done in water-jet propulsion. In this article we apply the framework specifically to a tip actuated soft continuum manipulator. The proposed control scheme employs both actuator feedback and pose feedback. The actuator feedback is utilized to both regulate the follower load and to compensate for non-linearities of the actuation system that can introduce kinematic model error. Pose feedback is required to maintain accurate path following. Experimental results demonstrate successful path following with the closed-loop control scheme, with significant performance improvements gained through the use of sensor feedback when compared with the open-loop case.

A novel dual closed-loop control scheme based on repetitive control for grid-connected inverters with an LCL filter

2018 ◽  
Vol 74 ◽  
pp. 194-208 ◽  
Author(s):  
Yun-Guang Gao ◽  
Fa-Yang Jiang ◽  
Jian-Cheng Song ◽  
Li-Jun Zheng ◽  
Fei-Yan Tian ◽  
...  
Keyword(s):  
Closed Loop ◽  
Repetitive Control ◽  
Closed Loop Control ◽  
Lcl Filter ◽  
Loop Control ◽  
Control Scheme

CMOS IMPLEMENTATION OF A VOLTAGE-MODE FUZZY MIN-MAX CONTROLLER

1996 ◽  
Vol 06 (02) ◽  
pp. 171-184 ◽  
Author(s):  
Y. OTA ◽  
B.M. WILAMOWSKI
Keyword(s):  
Membership Function ◽  
Closed Loop ◽  
General Purpose ◽  
Closed Loop Control ◽  
Type Function ◽  
Loop Control ◽  
Gaussian Type ◽  
Control Scheme ◽  
Cmos Implementation ◽  
Gaussian Type Function

In this paper, a general-purpose fuzzy min-max network using a Gaussian-type membership function fuzzifier is proposed. Particularly, CMOS implementations of the Gaussian-type membership function fuzzifier circuits, min-max operators, and the defuzzifier circuit are analyzed. Programmability of the proposed Gaussian-type function fuzzifier can be achieved by changing the gate voltages and the sizes of transistors in the differential pairs. A closed-loop control scheme is used between the fuzzifier and defuzzifier blocks to compensate the global normalization of the denominator in the division of a centroid calculation in the defuzzifier block.

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