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Full-Text Articles in Engineering
A Survey Of Advanced Control Methods For Permanent Magnet Stepper Motors, Yong Woo Jeong, Youngwoo Lee, Chung Choo Chung
A Survey Of Advanced Control Methods For Permanent Magnet Stepper Motors, Yong Woo Jeong, Youngwoo Lee, Chung Choo Chung
Journal of Marine Science and Technology
Permanent Magnet (PM) stepper motors have been widely used in industry due to their low material costs and robustness against the environment. Furthermore, it is relatively easy to implement a control system compared to other type motors. It has been recently reported that advanced control methods show improved tracking performance over the conventional microstepping control. In this paper, we make a survey of advanced control methods for PM stepper motors. First, we introduce basic principles of open-loop control of PM stepper motors, including microstepping. Then we explain various advanced feedback control techniques based on Lyapunov stability. Second, we briefly summarize …
Control Barrier Function Design Using Revived Transformation, Maki Takai, Motoi Igarashi, Hisakazu Nakamura
Control Barrier Function Design Using Revived Transformation, Maki Takai, Motoi Igarashi, Hisakazu Nakamura
Journal of Marine Science and Technology
The state constraint problem is an essential topic in control theory, wherein control methods using a control barrier function (CBF) and a revived transformation have been recently proposed. However, a way of designing the CBF is yet to be developed in a constrained space. In this study, we propose a CBF design method by using a revived transformation. Our method can design a CBF in a constrained space by utilizing a diffeomorphism from an unconstrained space. We demonstrate the effectiveness of the proposed method by human assist control design and computer simulation.