Documents disponibles écrits par cet auteur

Correction to “sliding-mode control scheme for an intelligent bicycle” [Sep 09 3357-3368] / Defoort, Michael in IEEE transactions on industrial electronics, Vol. 57 N° 10 (Octobre 2010) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 57 N° 10 (Octobre 2010) . - pp. 3474 - 3474 Titre : Correction to “sliding-mode control scheme for an intelligent bicycle” [Sep 09 3357-3368] Type de document : texte imprimé Auteurs : Defoort, Michael, Auteur ; Murakami, Toshiyuki, Auteur Année de publication : 2011 Article en page(s) : pp. 3474 - 3474 Note générale : Génie électrique Langues : Anglais (eng) Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : In the above titled paper (ibid., vol. 56, no. 9, pp. 3357-3368, Sep. 09), the authors mistakenly did not include a reference in the final print. The reference is presented here and proper credit is given. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5371885 [article] Correction to “sliding-mode control scheme for an intelligent bicycle” [Sep 09 3357-3368] [texte imprimé] / Defoort, Michael, Auteur ; Murakami, Toshiyuki, Auteur . - 2011 . - pp. 3474 - 3474. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 57 N° 10 (Octobre 2010) . - pp. 3474 - 3474 Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : In the above titled paper (ibid., vol. 56, no. 9, pp. 3357-3368, Sep. 09), the authors mistakenly did not include a reference in the final print. The reference is presented here and proper credit is given. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5371885

Sliding-mode control scheme for an intelligent bicycle / Defoort, Michael in IEEE transactions on industrial electronics, Vol. 56 N° 9 (Septembre 2009) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3357-3368 Titre : Sliding-mode control scheme for an intelligent bicycle Type de document : texte imprimé Auteurs : Defoort, Michael, Auteur ; Murakami, Toshiyuki, Auteur Article en page(s) : pp. 3357-3368 Langues : Anglais (eng) Mots-clés : Mode  de  glissement  bicyclette  intelligente Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : This paper deals with the robust stabilization and trajectory-tracking problems of a riderless bicycle. A dynamic model, which takes into account geometric-stabilization mechanisms due to bicycle trail, is presented. A posture controller which combines second-order sliding-mode control and disturbance observer is derived. Then, an innovative tracking controller based on the proposed posture controller and the dynamic-inversion framework is designed. Simulation and experimental results on an autonomous bicycle show the performances of the proposed strategy for the stabilization and tracking problems. Note de contenu : Génie électrique DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=4801752 [...] [article] Sliding-mode control scheme for an intelligent bicycle [texte imprimé] / Defoort, Michael, Auteur ; Murakami, Toshiyuki, Auteur . - pp. 3357-3368. Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3357-3368 Mots-clés : Mode  de  glissement  bicyclette  intelligente Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : This paper deals with the robust stabilization and trajectory-tracking problems of a riderless bicycle. A dynamic model, which takes into account geometric-stabilization mechanisms due to bicycle trail, is presented. A posture controller which combines second-order sliding-mode control and disturbance observer is derived. Then, an innovative tracking controller based on the proposed posture controller and the dynamic-inversion framework is designed. Simulation and experimental results on an autonomous bicycle show the performances of the proposed strategy for the stabilization and tracking problems. Note de contenu : Génie électrique DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=4801752 [...]

Vibration suppression of two-wheel mobile manipulator using resonance-ratio-control-based null-space control / Abeygunawardhana, Pradeep K. W. in IEEE transactions on industrial electronics, Vol. 57 N° 12 (Décembre 2010) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 57 N° 12 (Décembre 2010) . - pp. 4137 - 4146 Titre : Vibration suppression of two-wheel mobile manipulator using resonance-ratio-control-based null-space control Type de document : texte imprimé Auteurs : Abeygunawardhana, Pradeep K. W., Auteur ; Murakami, Toshiyuki, Auteur Année de publication : 2011 Article en page(s) : pp. 4137 - 4146 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Acceleration  control  Null  space  Resonance  ratio  control  Two-wheel  mobile  manipulator  Vibration-suppression  control Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : A two-wheel mobile manipulator has the potential to become a multiskilled robot in the field of robotics, and it is already implemented by using inverted pendulum control. The center of gravity (COG) position is controlled to achieve the balancing of the robot. Since the vibrations of manipulator arms affect the COG positions of the inverted pendulum, balancing of the robot deteriorates. Therefore, the vibration control of manipulator arms of the two-wheel mobile manipulator is proposed in this paper. The virtual double-inverted pendulum is modeled using a “4-DOF” manipulator, and it is controlled in work space and null space. Resonance ratio control is utilized for vibration-suppression control. The resonance ratio of a system can be determined arbitrarily by the feedback of reaction torque, and reaction torque observers are implemented for each and every manipulator motor. The feedback signal for vibration suppression is introduced to the null space of the manipulator. Simulations and experiments were carried out to check the validity of the proposed method, and results prove the effectiveness of the proposed vibration controller. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5422770 [article] Vibration suppression of two-wheel mobile manipulator using resonance-ratio-control-based null-space control [texte imprimé] / Abeygunawardhana, Pradeep K. W., Auteur ; Murakami, Toshiyuki, Auteur . - 2011 . - pp. 4137 - 4146. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 57 N° 12 (Décembre 2010) . - pp. 4137 - 4146 Mots-clés : Acceleration  control  Null  space  Resonance  ratio  control  Two-wheel  mobile  manipulator  Vibration-suppression  control Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : A two-wheel mobile manipulator has the potential to become a multiskilled robot in the field of robotics, and it is already implemented by using inverted pendulum control. The center of gravity (COG) position is controlled to achieve the balancing of the robot. Since the vibrations of manipulator arms affect the COG positions of the inverted pendulum, balancing of the robot deteriorates. Therefore, the vibration control of manipulator arms of the two-wheel mobile manipulator is proposed in this paper. The virtual double-inverted pendulum is modeled using a “4-DOF” manipulator, and it is controlled in work space and null space. Resonance ratio control is utilized for vibration-suppression control. The resonance ratio of a system can be determined arbitrarily by the feedback of reaction torque, and reaction torque observers are implemented for each and every manipulator motor. The feedback signal for vibration suppression is introduced to the null space of the manipulator. Simulations and experiments were carried out to check the validity of the proposed method, and results prove the effectiveness of the proposed vibration controller. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5422770