Zobrazeno 1 - 10
of 403
pro vyhledávání: '"Ruderman, Michael A."'
Autor:
Ruderman, Michael
A standard (stiff) motion control with output displacement feedback cannot handle unforeseen contact with environment without penetrating into soft, i.e. viscoelastic, materials or even damaging brittle or fragile materials. Robotics and mechatronics
Externí odkaz:
http://arxiv.org/abs/2411.19495
Autor:
Ruderman, Michael
The recently introduced energy-saving extension of the sub-optimal sliding mode control allows for control-off phases during the convergence to second-order equilibrium. This way, it enables for a lower energy consumption compared to the original sub
Externí odkaz:
http://arxiv.org/abs/2407.10113
Autor:
Ruderman, Michael, Efimov, Denis
This note proposes a novel nonlinear state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) feedback control, the proposed nonlinear scheme uses the output state of interest and its time deri
Externí odkaz:
http://arxiv.org/abs/2406.14000
Autor:
Ruderman, Michael
Nonlinear extension of the integral part of a standard proportional-integral-derivative (PID) feedback control is proposed for the perturbed second-order systems. For the matched constant perturbations, the global asymptotic stability is shown, while
Externí odkaz:
http://arxiv.org/abs/2404.02502
Autor:
Ruderman, Michael
Power-based output feedback compensator for oscillatory systems is proposed. The average input-output power of an oscillatory signal serves as an equivalent control effort, while the unknown amplitude and frequency of oscillations are detected at eac
Externí odkaz:
http://arxiv.org/abs/2401.15729
Autor:
Ruderman, Michael
Time delay based control, recently proposed for non-collocated fourth-order systems, has several advantages over an observer-based state-feedback compensation of the low-damped oscillations in output. In this paper, we discuss a practical infeasibili
Externí odkaz:
http://arxiv.org/abs/2311.14979
Autor:
Ruderman, Michael
We consider third-order dynamic systems which have integral feedback action and discontinuous relay disturbance. More specifically for applications, our focus is on the integral plus state-feedback control of motion systems with the discontinuous Cou
Externí odkaz:
http://arxiv.org/abs/2311.03724
This paper provides a novel surface design and experimental evaluation of a super-twisting algorithm (STA) based control for hydraulic cylinder actuators. The proposed integral sliding surface allows to track a sufficiently smooth reference without u
Externí odkaz:
http://arxiv.org/abs/2310.07675
Autor:
Ruderman, Michael
This paper revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the relative motion.
Externí odkaz:
http://arxiv.org/abs/2305.15870
The second-order sub-optimal sliding mode control (SMC), known in the literature for the last two decades, is extended by a control-off mode which allows for saving energy during the finite time convergence. The systems with relative degree two betwe
Externí odkaz:
http://arxiv.org/abs/2305.07891