Avoiding Feedback-Linearization Singularity Using a Quotient Method -- The Field-Controlled DC Motor Case
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Stepper motors are a very convenient and economical solution for accurate positioning applications where long lifetime and low wear are required. Their particularly simple open-loop operation reduces the number of control components to a minimum. However, ...
Recent work is revealing neural correlates of a leading theory of motor control. By linking an elegant series of behavioral experiments with neural inactivation in macaques with computational models, a new study shows that premotor and parietal areas can b ...
The size, weight, and power consumption of soft wearable robots rapidly scale with their number of active degrees of freedom. While various underactuation strategies have been proposed, most of them impose hard constrains on the kinetics and kinematics of ...
This research work has been triggered by an industrial project aimed at modelling and manufacturing a small-scale very high speed motor. Very high speed electrical motors offer the main advantage of reducing the size of a system. Indeed, at constant output ...
Large horsepower induction motors play a critical role in the operation of industrial facilities. In this respect, the distribution network operators dedicate a high priority to the operational safety of these motor loads. In this paper, the induction moto ...
Nonlinear model predictive control (NMPC) has been widely adopted to manipulate bilinear systems with dynamics that include products of the inputs and the states. These systems are ubiquitous in chemical processes, mechanical systems, and quantum physics, ...
Background Brain imaging has shown that not only the cortico-spinal tract (CST), but also alternate corticofugal motor fibers (aMF), such as the cortico-rubro-spinal and cortico-reticulo-spinal tract, influence residual motor output after stroke. So far, s ...
Background: Brain imaging has shown that not only the cortico-spinal tract (CST), but also alternate corticofugal motor fibers (aMF), such as the cortico-rubro-spinal and cortico-reticulo-spinal tract, influence residual motor output after stroke. So far, ...
A novel splitting scheme to solve parametric multi-convex programs is presented. It consists of a fixed number of proximal alternating minimisations and a dual update per time step, which makes it attractive in a real-time Nonlinear Model Predictive Contro ...
A novel decomposition scheme to solve parametric nonconvex programs as they arise in Nonlinear Model Predictive Control (NMPC) is presented. It consists of a fixed number of alternating proximal gradient steps and a dual update per time step. Hence, the pr ...