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Updated: Sep 20, 2025

WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control
08:18

WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control

Published on: August 15, 2020

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滑动模式控制器使用基于非线性干扰观察员的自适应指数触及法

Ying Liu1, Gongfa Li2, Du Jiang3

  • 1Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of science and Technology, Wuhan 430081, China.

ISA transactions
|May 25, 2025
PubMed
概括

这项研究引入了灵活关节操纵器的新控制方法,通过抑制干扰来提高位置跟踪的准确性和速度. 集成的非线性干扰观察器和自适应控制显著减少了轨迹误差.

关键词:
美国航空公司 AERL在AERL-NFTSM中使用.聊天 聊天 聊天 聊天收准确度 收准确度 收准确度 收准确度灵活的关节操纵器灵活的关节操纵器

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PD Controller: Design01:26

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In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
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Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
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Controller Configurations

Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
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Second Order systems II01:18

Second Order systems II

In an underdamped second-order system, where the damping ratio ζ is between 0 and 1, a unit-step input results in a transfer function that, when transformed using the inverse Laplace method, reveals the output response. The output exhibits a damped sinusoidal oscillation, and the difference between the input and output is termed the error signal. This error signal also demonstrates damped oscillatory behavior. Eventually, as the system reaches a steady state, the error diminishes to zero.
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Linear Approximation in Time Domain01:21

Linear Approximation in Time Domain

Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
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Linear Approximation in Frequency Domain01:26

Linear Approximation in Frequency Domain

Linear systems are characterized by two main properties: superposition and homogeneity. Superposition allows the response to multiple inputs to be the sum of the responses to each individual input. Homogeneity ensures that scaling an input by a scalar results in the response being scaled by the same scalar.
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