Motion Control for Intelligent Automation (eBook)

Front Cover 1
Motion Control for Intelligent Automation 2
Copyright Page 3
Table of Contents 8
Preface 6
CHAPTER 1. MOTION CONTROL: AN EMERGENT TECHNOLOGY 16
INTRODUCTION 16
MODEL OF THE LOAD TORQUE 16
CONTROL STRATEGIES FOR MOTION CONTROL 19
REFERENCES 21
CHAPTER 2. ANALYSIS OF MECHANICAL DEVICES AND SYSTEMS 22
1. INTRODUCTION 22
2. THE DYNAMICS OF MECHANICAL SYSTEMS 22
3. SOME ASPECTS OF MECHANICAL DYNAMICS 24
4. EXAMPLES 25
5. CONCLUSIONS 27
REFERENCES 27
CHAPTER 3. MODELS OF MECHANICAL SYSTEMS FOR CONTROLLERS DESIGN 28
INTRODUCTION 28
MATHEMATICAL MODELING AND DYNAMICS 28
SIMULATION RESULTS 30
HYBRID POSITION/FORCE AND IMPACT CONTROL OF ROBOT MANIPULATOR USING NEURAL NETWORK 32
CONCLUSIONS 32
REFERENCES 33
CHAPTER 4. REQUIREMENTS IN MOTION CONTROL APPLICATION 34
I. Introduction 34
II. Actuator and Mechanical System 34
III. Actuator. Mechanical System und Process 37
Conclusion 42
CHAPTER 5. NEW GEOMETRIC PARAMETERS FOR THE MODELLINGOF SIMPLE OR CLOSED-CHAIN MECHANISMS 44
1. INTRODUCTION 44
2· NUMBERING OF LINKS AND JOINTS 44
3· INTRODUCTION OF FRAMES OF REFERENCE AND NEW PARAMETERS 45
4· COMPUTATION OF 4X4 HOMOGENEOUS TRANSFORMATION MATRIX 46
5· EXAMPLES 46
6· CONCLUSION 47
REFERENCES 47
CHAPTER 6. HARDWARE-IN-THE-LOOP SIMULATION OF MULTIBODY SYSTEM MODELS WITH TRANSPUTERS 48
1. INTRODUCTION 48
2. MULTIBODY SYSTEM MODELING 48
3. PARALLEL SOLUTION OF EQUATIONS OF MOTION 49
4. TRANSPUTER IMPLEMENTATION 51
5. EXAMPLES FOR APPLICATION TO ROBOT SIMULATION 52
6. CONCLUSIONS 53
7. REFERENCES 53
CHAPTER 7. PARALLEL RECURSIVE ESTIMATION ALGORITHM FOR DYNAMIC MODEL PARAMETERS OF A ROBOT ARM 54
1. Introduction 54
2. Parallel Dynamic Model 54
3. Parallel Structures for Recursive Parameter Estimation 56
4. Simulation Results 56
5. Conclusions 56
6. References 57
Appendix A 57
CHAPTER 8. TRANSDUCERS FOR MOTION CONTROL 60
INTRODUCTION 60
TRANSDUCER CLASSIFICATION 61
LINEAR MOTION 62
ROTARY MOTION 65
COMPLEX MOTION IN TWO-DIMENSIONS 66
COMPLEX MOTION IN THREE-DIMENSIONS 68
REFERENCES 69
CHAPTER 9. COMPUTER BASED CORRECTION OF SENSOR SIGNALS 72
1. INTRODUCTION 72
2. DIGITAL CORRECTION OF CROSS SENSITIVITIES OF SENSORS TO AMBIENT TEMPERATURE 73
3. ALGORITHMIC HYSTERESIS ERROR CORRECTION 75
4. CONCLUSIONS 79
5. REFERENCES 79
CHAPTER 10. INTELLIGENT ACTUATORS WAYS TO AUTONOMOUS ACTUATING SYSTEMS 80
1. Introduction 80
2. Actuator Principles 81
3. Modelling and Identification of Actuators 82
4. Model Based Nonlinear Control of Actuators 84
5. Model Based Control of an Electromagnetic Actator 85
6. Model Based Control of a Pneumatic Actuator 87
7. Model Based Fault Detection, Diagnosis and Supervision of Actuators 88
8. Implementation on Microcontrollers 90
9. Conclusions and further Development 90
Acknowledgements 90
References 90
CHAPTER 11. ADVANCED TECHNIQUES IN COMMERCIAL AC DRIVES 92
INTRODUCTION 92
WHY AC DRIVE? 92
AC DRIVES USING GENERAL PURPOSE INVERTER 93
OTHER KINDS OF AC DRIVES 94
CONCLUSION 96
LITERATURES 96
CHAPTER 12. EFFICIENCY IMPROVEMENT OF NONLINEAR ACTUATORS BY CASCADE MODEL APPROXIMATION 98
INTRODUCTION 98
PROBLEM STATEMENT 99
LINEARIZATION OF CASCADE MODELS 99
TEST PLANT 100
EFFICIENCY ASSESSMENT 101
LIMITS TO THE APPROACH 102
CONCLUSIONS AND OUTLOOK 103
REFERENCES 103
CHAPTER 13. BILINEAR MODELLING AND STATE-FEEDBACK CONTROL OF AN ELECTRO-HYDRAULIC DRIVE 104
INTRODUCTION 104
BILINEAR CHARACTERISTICS OF THE PLANT DYNAMICS 104
ALGORITHM OF BILINEAR MODELIDENTIFICATION 105
IDENTIFICATION RESULTS 106
FEEDBACK LINEARIZATIONTRACKING CONTROLAND 107
BILINEAR OBSERVER DESIGN 108
CONCLUSIONS 109
ACKNOWLEDGMENT 109
REFERENCES 109
CHAPTER 14. DIGITAL POSITION AND VELOCITY DETERMINATIONIN CONTROLLED DRIVE SYSTEMS 110
1. INTRODUCTION 110
2. POSITION SENSORS 111
3. VELOCITY DETERMINATION 113
4. DESIGN STRATEGY 115
5. CONCLUSION 115
REFERENCES 115
CHAPTER 15. AUTOMATIC TUNING OF INDUSTRIAL D.C. DRIVES 116
I. INTRODUCTION 116
II. MODEL OF THE DRIVE 116
III. THE IDENTIFICATION METHOD 117
IV. REALIZATION OF THE PROPOSED IDENTIFICATION PROCEDURE 118
V. SYNTHESIS OF SPEED CONTROLLER 120
CONCLUSIONS 121
ACKNOWLEDGMENTS 121
REFERENCES 121
CHAPTER 16. HOLLOW-SHAFT ACTUATORS FOR INTELLIGENT AUTOMATION 122
1. Introduction 122
2. Performance Requirements for Precision Motion Control Applications 122
3. Harmonic Drive Reduction Gearing 123
4. A New Generation of Hollow-Shaft Servo Actuators 125
CHAPTER 17. HIGH PERFORMANCE APPLICATIONS: ROBOT MOTION IN COMPLEX ENVIRONMENTS 128
INTRODUCTION 128
COOPERATING ROBOT WITH VISION AND TACTILE SENSORS 128
ROBOTRAC - A MOBILE SENSOR SUPPORTED MANIPULATOR 130
A PINGPONG PLAYING ROBOT 130
A POLITE, MOBILE ROBOT 130
CONCLUSIONS 131
REFERENCES 131
CHAPTER 18. HIGH PERFORMANCE CONTROL OF ROBOT MANIPULATOR WITHOUT USING INVERSE DYNAMICS 134
1. INTRODUCTION 134
2. DISTURBANCE OBSERVER 134
3. BASIC DESIGN OF TDOF ROBUST SERVO SYSTEM 134
4. ROBUST POSITION CONTROLLER 135
5. ROBUST TRAJECTORY CONTROL OF MULTI-AXIS MANIPULATOR 135
6. VARIOUS MOTION CONTROLS INCLUDING CONTACT WITH ENVIRONMENT 136
7. ADVANTAGES OF OUR METHOD TO THE COMPUTED TORQUE METHOD 136
8. TDOF FORCE CONTROLLER BASED ON TDOF ACCELERATION CONTROLLER 136
9. CONCLUSION 137
ACKNOWLEDGEMENT 137
REFERENCES 137
CHAPTER 19. MINIMUM ENERGY OPERATION CONDITIONS OF INDUCTION MOTORS UNDER TORQUE REGULATION 142
1 Introduction 142
2 Dynamic Model of the Induction Motor 142
3 Minimum Energy Steadystate Operation Points 143
4 The Machine Efficiency under Minimum Energy 145
5 The Torque Regulation 146
6 Simulation 147
References 148
CHAPTER 20. ADAPTIVE CONTROL OF STEPPER MOTORS VIA NONLINEAR EXTENDED MATCHING 150
INTRODUCTION 150
FEEDBACK LINEARIZATION 150
ADAPTIVE FEEDBACK LINEARIZATION VIA EXTENDED MATCHING 151
SIMULATION RESULTS 153
CONCLUSIONS 153
ACKNOWLEDGEMENTS 154
References 154
CHAPTER 21. PERFORMANCES OF A MODEL REFERENCE ADAPTIVE CONTROL OF AN INDUSTRIAL ROBOT 156
1. Introduction 156
2. Robot manipulator dynamics 156
3. The structure of the control system 157
4. The adaptation mechnism 157
5. Discretization of the adaptive laws 158
6. Initialization of the MRAC-algorithm 158
7. Experiments 159
8, Conclusions 161
References 161
CHAPTER 22. ADVANCED VARIABLE STRUCTURE CONTROL OF HIGH PERFORMANCE DRIVES 162
INTRODUCTION 162
VARIABLE STRUCTURE CONTROLLER 163
ADAPTIVE BACK E.M.F. IDENTIFICATION 164
PHASE ADVANCE OPTIMIZATION 165
DISTURBANCE OBSERVER DESIGN 166
CONCLUSIONS 166
ACKNOWLEDGMENTS 167
LIST OF SYMBOLS 167
REFERENCES 167
CHAPTER 23. VIBRATION CONTROL OF A FLEXIBLE CARTESIAN ROBOT: EXTENSION OF A PRESHAPING INPUT METHOD 168
ABSTRACT 168
INTRODUCTION 168
EXTENSION OF THE METHOD 168
ROBUSTNESS ANALYSIS 172
CONCLUSIONS 172
ACKNOWLEDGMENTS 172
REFERENCES 172
CHAPTER 24. DESIGN OF AC DRIVES WITH POSITION AND SPEED DYNAMIC CONTROL 174
INTRODUCTION 174
CONTROL STRATEGY 174
FLUX ACQUISITION MODEL 174
MICROPROCESSOR 175
INVERTER 175
ENCODER 176
ANALOG FILTER 176
TEST RESULTS 177
CONCLUSIONS 178
REFERENCES 178
CHAPTER 25. POLYNOMIAL PREDICTIVE FUNCTIONAL CONTROLLER FOR A.C. MOTORS 180
INTRODUCTION 180
MODEL BASED PREDICTIVE CONTROL 180
POLYNOMIAL APPROACH 182
CONCLUSIONS 185
REFERENCES 185
CHAPTER 26. NONLINEAR TORQUE TRACKING CONTROL OF INDUCTION MOTORS 186
1 Problem Formulation 186
2 Main Result 187
3 Proof of Main Result 188
4 Simulation Results 189
5 Concluding Remarks 189
References 189
CHAPTER 27. STATIC AND DYNAMIC MODELLING OF SEQUENTIALLY SWITCHED NETWORKS 192
1 Introduction 192
2 System formulation 192
3 State evolution 193
4 Cyclic state 194
5 Small signal model 195
6 Example 196
7 Conclusions 197
References 197
CHAPTER 28. FUZZY NEURAL POSITION CONTROLLER FOR SERVOMOTORS 198
1. INTRODUCTION 198
2. CONTROL METHODS 198
3. HARDWARE OF OVERALL SYSTEM 199
4. CONTROL RESULTS 199
5. CONCLUSION 199
REFERENCES 199
CHAPTER 29. VARIABLE STRUCTURE CONTROLLERS IN MOTION CONTROL SYSTEMS 204
1. INTRODUCTION 204
2. ANALYSIS OF THE CONTROL PLANTS 204
3. THE CONTROL SYSTEM DESIGN 205
4. CONTROL VECTOR MAPPING 206
5. SELECTION OF THE OUTER LOOP CONTROLLER 206
6. SWITCHING FUNCTION ESTIMATION 207
7. SIMULATION AND EXPERIMENTAL RESULTS 208
8. CONCLUSIONS 209
9. ACKNOWLEDGMENT 209
REFERENCES 209
CHAPTER 30. VARIABLE STRUCTURE CONTROL AND BINARY CONTROL, A COMPARISON 210
INTRODUCTION 210
UNIFIED FEEDBACK DESIGN 210
HIGH-GAIN FEEDBACK 212
BINARY CONTROL 213
CONCLUSIONS 215
REFERENCES 215
CHAPTER 31. NON-LINEAR CONTROL STRATEGIES FOR INDUCTION MOTOR DRIVES 216
1. INTRODUCTION 216
2. MODEL OF THE MACHINE 217
3. NONLINEAR STATE FEEDBACK DECOUPLING 218
4. ADAPTIVE CONTROL 220
5. CONCLUSION 221
REFERENCES 222
CHAPTER 32. COMPARISON OF EQUATION BASED FUZZY CONTROLLERS 224
1. INTRODUCTION 224
2. A GLIMPSE TO FUZZY LOGIC 225
3. NON-EQUATION-BASED CONTROLLERS 226
4. EQUATION BASED METHODS 227
5. COMPARISONS 229
6. CONCLUSIONS 230
References 230
CHAPTER 33. AN EXPERT SYSTEM FOR ON-LINE FAULT DIAGNOSIS AND CONTROL OF A RAILWAY LOCOMOTIVE 232
1. INTRODUCTION 232
2. ON-LINE EXPERT SYSTEM ARCHITECTURE 232
3. DESCRIPTION OF THE PLANT 233
4. KNOWLEDGE REPRESENTATION 233
5. SOFTWARE AND HARDWARE FRAMEWORK 234
6. HANDLING UNCERTAINTY INHERENT LINGUISTIC TERMS 234
7. AN EXAMPLE OF DIAGNOSIS AND CONTROL 235
8. CONCLUSIONS 235
ACKNOWLEDGEMENTS 235
REFERENCES 235
APPENDIX 235
CHAPTER 34. STEERING THE STATE OF NONLINEARLY PERTURBED LINEAR SYSTEMS BY LEARNING 238
I. INTRODUCTION 238
II. STATE STEERING BY LEARNING 238
III. AN EXAMPLE 241
IV. CONCLUSIONS 241
REFERENCES 241
CHAPTER 35. PNEUMATIC POSITIONER WITH FUZZY CONTROL 244
1. INTRODUCTION 244
2. SYSTEM DESCRIPTION 245
3. FUZZY MECHANICAL SYSTEM REGULATION 245
4. EXPERIMENTAL RESULTS 247
5. CONCLUSIONS 249
REFERENCES 249
CHAPTER 36. DEVELOPMENT OF A FUZZY CONTROLLER FOR A DC DRIVE 250
1. INTRODUCTION 250
2. FUZZY LOGIC CONTROLLER 251
3. DESIGN OF A FLC FOR A DC DRIVE 252
4. FLC IMPLEMENTATION 254
5. CONCLUSIONS 255
6.REFERENCES 255
CHAPTER 37. ACTIVE POSITION CONTROL OF DYNAMIC PLATFORMS 256
1. INTRODUCTION 256
2. EXPERIMENTAL RIG 257
3. ACTIVE FORCE CONTROL 257
4. RESULTS AND DISCUSSION 258
5. REFERENCES 259
CHAPTER 38. COMMUNICATION TECHNIQUES FOR ELECTRIC DRIVES 262
1. INTRODUCTION 262
2. DRIVE INTERFACES 262
3. ANALOG TECHNIQUES 264
4. SERIAL TECHNIQUES 264
5. PARALLEL TECHNIQUES 265
6. MULTIDROP TECHNIQUES 266
REFERENCES 267
CHAPTER 39. MICROPROCESSORS SYSTEMS FOR MOTION CONTROL 268
1. INTRODUCTION 268
2. MICROCOMPUTERS 269
3. MICROCOMPUTER–BASED MOTION CONTROL SYSTEM 270
CHAPTER 40. VISION BASED MOTION CONTROL APPLICATION FOR FACTORY AUTOMATION 274
INTRODUCTION 274
SPATIAL FILTER METHOD 274
SYSTEM CONSTRUCTION 276
MODEL OF VEHICLE 277
CORRECTION OF POSITION ERROR 277
STEERING CONTROL 278
EXPERIMENTAL RESULTS 278
CONCLUSION 278
REFERENCES 278
CHAPTER 41. PULSE-WIDTH AND VSS-MODULATED CONTROLLERS IN MOTION SYSTEMS 280
INTRODUCTION 280
DISCRETE PULSE MODULATION 280
VARIABLE STRUCTURE SYSTEMS 282
VSS FOR PULSE GENERATION 282
SIMULATION EXPERIMENTS 283
CONCLUSIONS 285
ACKNOWLEDGEMENTS 285
REFERENCES 285
CHAPTER 42. FUZZY LOGIC CONTROLLER DESIGN BASED ON VARIABLE STRUCTURE CONTROL 286
INTRODUCTION 286
FUNDAMENTAL CONCEPTS OF FUZZY LOGIC CONTROLLER 286
FUZZY LOGIC CONTROLLER 287
QUASI-SLIDING CONTROL 289
GLOBAL STABILITY ANALYSIS 289
CONCLUSION 290
REFERENCE 291
CHAPTER 43. DIGITAL SLIDING MODE TORQUE CONTROL FORINDUCTION SERVO DRIVES 292
CONTROL METHOD 292
MODELIZATION 293
MATHEMATICAL ANALYSIS 293
ROTOR FLUX OBSERVER 294
INVERTER COMMAND SELECTION 296
CONCLUSION 297
ACKNOWLEDGMENT 297
REFERENCES 297
CHAPTER 44. A SIMPLIFIED STRATEGY TO IMPLEMENT SLIDINGMODE CONTROL OF A TWO-JOINTS ROBOT WITH A FLEXIBLE FOREARM 298
1. INTRODUCTION 298
2. MODEL OF THE ELASTIC ROBOT 299
3. SLIDING MODE CONTROL FOR THE TWO ARM ROBOT 299
4. STATE VECTOR ESTIMATION 300
5. EXPERIMENTAL RESULTS 300
6. CONCLUSIONS 301
REFERENCES 301
CHAPTER 45. FAST DOCKING OF A MOBILE ROBOT USING PASSIVE VISION 304
1 INTRODUCTION 304
2 LOCALIZATION RELATIVE TO THE DOCKING STATION 305
3 DOCKING STRATEGY 306
4 POSITION UPDATE 306
5 IMPLEMENTATION 308
REFERENCES 309
CHAPTER 46. AUTOMATIC RECOGNITION OF LANES FOR HIGHWAY DRIVING 310
ABSTRACT 310
1. INTRODUCTION 310
2. CHARACTERISTICS REQUIRED OF APATHWAY TRACKER 311
4. IMPLEMENTATION 313
5. EXPERIMENTAL RESULTS 313
6. CONCLUSIONS 315
ACKNOWLEDGMENT 315
REFERENCES 315
CHAPTER 47. VISUAL FEEDBACK FOR RIGID BODY MOTION CONTROL 316
1 Introduction 316
2 The simulation system for visual feedback control 316
3 Image generation system 318
4 Reconstruction of motion parameters from a sequence of images 318
5 Control algorithms 319
Acknowledgement 320
6 References 320
CHAPTER 48. AUTONOMOUS VEHICLE POSITION CONTROL BASED ON A LOCAL DOMAIN STATE SPACE MODEL 322
1 Introduction 322
2 Model derivation 323
3 Controller Design 324
4 Actuator dynamics 324
5 Arbitrary target point 325
6 Experimental Realisation 326
7 Conclusion 327
References 327
CHAPTER 49. WALKING ROBOT ADAPTATION TO GROUND PROPERTIES USING FUZZY CONTROL 328
INTRODUCTION 328
MODELLING 329
FUZZY LOGIC BASED CONTROL 330
RESULTS 331
CONCLUSIONS 332
ACKNOWLEDGEMENTS 332
REFERENCES 332
CHAPTER 50. HOMING GUIDANCE SCHEMES FOR AUTONOMOUS VEHICLES 334
1. INTRODUCTION 334
2. System Architecture and Simulation Environment 334
3. Control Strategies - Details and Performance Comparisons 336
4. Perspectives 339
Acknowledgements 339
References 339
CHAPTER 51. OBSTACLE AVOIDANCE USING TACTILE SENSING FORAN AUTONOMOUS MOBILE ROBOT 340
1 INTRODUCTION 340
2 PROBLEM FORMULATION 341
3 SOLUTION APPROACH 341
4 IMPLEMENTATION 343
5 EXPERIMENTS 343
6 DISCUSSIONS AND FINAL REMARKS 344
REFERENCES 344
CHAPTER 52. MOTION CONTROL ALGORITHM FOR A GROUP OF VEHICLES 346
1. PROBLEM FORMULATION 346
2. MOTION CONTROL ALGORITHMS 348
3. TESTING RESULTS 350
4. CONCLUSION 351
REFERENCES 351
CHAPTER 53. TASK SPACE CONTROL OF THE DELTA PARALLEL ROBOT 352
1 INTRODUCTION 352
2 PARALLEL ROBOTS 352
3 THE DELTA ROBOT 353
4 COMPUTED TORQUE BASED CONTROL 355
5 IMPLEMENTATION 356
6 FUTURE RESEARCH 357
7 REFERENCES 357
CHAPTER 54. HIGH PERFORMANCE ROBOT CONTROLLER BASED ON WEDSP 32C 358
INTRODUCTION 358
INTERFACES 360
CONTROL ALGORITHMS 361
CONCLUSIONS 362
REFERENCES 362
CHAPTER 55. A HIGH-PERFORMANCE MICROPROCESSOR-CONTROLLED PWM INVERTER FOR AC MOTOR DRIVES 364
1. INTRODUCTION 364
2. PWM TECHNIQUES 364
3. COMPUTATIONAL ARCHITECTURE 367
4. EXPERIMENTAL RESULTS 368
5. CONCLUSIONS 369
ACKNOWLEDGMENTS 369
REFERENCES 369
CHAPTER 56. NEW MICROPROCESSOR SYSTEM EASIES CUSTOM CONTROLS BUILDING-UP 370
1. INTRODUCTION 370
2. THE BUS ARCHITECTURE 371
3. CPU ARCHITECTURE 372
4. AN APPLICATION SAMPLE 374
5. CONCLUSIONS 374
REFERENCES 374
CHAPTER 57. MICROCOMPUTER CONTROL FOR ELECTRICAL AND SYNCHRONOUS GENERATORS 376
ABSTRACT 376
KEYWORDS 376
1. INTRODUCTION 376
2. THE GANZ DCS MICROCOMPUTER 376
3. REDUNDANT CONTROL FOR POWERPLANT GENERATORS 378
4. FIELD EXPERIENCE 380
5. CONCLUSION AND FUTURE WORKS 381
REFERENCES 381
CHAPTER 58. ROBUST AND ADAPTIVE CONTROL STRATEGIES 382
1. INTRODUCTION 382
2. STRUCTURE OF DISTURBANCE OBSERVER 382
3. DYNAMICS IDENTIFICATION OF MULTI-DEGREES-OF-FREEDOM ROBOT 383
4. VERIFICATION OF ESTABLISHED DYNAMIC MODEL 386
5. CONCLUSIONS 387
REFERENCES 387
CHAPTER 59. IDENTIFICATION AND CONTROL OF ELECTRICAL DRIVES 388
I - INTRODUCTION 388
II - IDENTIFICATION OF DISCRETETIME MODELS FOR ELECTRICAL DRIVES 388
Ill - CONTROL STRATEGIES 389
IV - DIGITAL SPEED CONTROL OF ADC MOTOR 390
V - CONCLUSION 391
REFERENCES 391
CHAPTER 60. IMPROVEMENT OF REFERENCE TRACKING CAPABILITY OF DIGITAL MOTION CONTROL SYSTEMS 394
INTRODUCTION 394
STATIONARY BEHAVIOR OF CONTROL SYSTEMS 394
EXAMPLES 394
EXAMPLE 2 395
DISCRETE SYSTEMS 396
DISCUSSION 397
CONTROLLER DESIGN 397
SATURATION EFFECTS 397
GENERAL CONTROLLER DESIGN PROCEDURES 397
SOME RESULTS 399
RELATIONSHIP TOPREDICTIVE CONTROL 399
REFERENCES 399
CHAPTER 61. OPTIMAL CONTROL OF STEPPER MOTOR WITH DEFINITION OF SAFETY FACTOR 400
L INTRODUCTION 400
II. LIST OF PRINCIPAL SYMBOLS 400
III. MATHEMATICAL MODELS OF STEPPER 400
IV. OPTIMAL CONTROL OF STEPPER MOTOR 401
V. CONTROL WITH SAFETY FACTOR 403
VI. EXPERIMENTAL RESULTS AND CONCLUSION 403
REFERENCES 404
CHAPTER 62. ACHIEVING THE SPATIO-TEMPORAL SEGMENTATION IN A FEATURE SPACE. AN UNSUPERVISED PATTERN RECOGNITION APPROACH 406
1. INTRODUCTION 406
2. MOTION ANALYSIS 406
3. STATISTICAL PATTERN RECOGNITION 407
4. SPATIO-TEMPORAL SEGMENTATION AND UNSUPERVISED CLASSIFICATION 408
5. APPLICATION & RESULTS
6. CONCLUSION 411
REFERENCES 411
CHAPTER 63. A METHOD FOR LINE SEGMENT MATCHING IN AN IMAGE SEQUENCE 412
1. INTRODUCTION 412
2. TEMPORAL MATCHING 412
3. SPATIAL MATCHING 414
4. RESULTS 415
5. CONCLUSION 416
6. APPENDIX 416
7. ACKNOWLEDGMENTS 417
8. REFERENCES 417
CHAPTER 64. MOTION CONTROL OF AN ELECTROPNEUMATIC DRIVEN LEGGED ROBOT 418
1- INTRODUCTION 418
2- DESCRIPTION OF THE ROBOT 419
3- CONTROL SCHEMES FOR A PNEUMATIC JOINT 420
4- EVALUATION OF THE LEG FOLLOWING A DESIRED TRAJECTORY 422
5- CONCLUSION 422
REFERENCES 422
CHAPTER 65. THE GALILEO TELESCOPE DRIVE SYSTEM 424
1.INTRODUCTION 424
2. A BRIEF TNG ACTIVE OPTICS OVERVIEW 424
3. TNG MAIN CARACTERISTICS 425
4. THE TNG DRIVE SYSTEM 426
5. FUNCTIONAL BLOCK DIAGRAM OF THE DRIVE SYSTEM 427
6. SIMULATIONS 428
7. DIGITAL CONTROL SYSTEM AND MANAGEMENT 429
8. CONCLUSIONS 429
REFERENCES 429
CHAPTER 66. DESIGN AND DEVELOPEMENT OF FUZZY CONTROLLED CONTROLLED AC MOTOR DRIVES 430
INTRODUCTION 430
ELEMENTS OF THE FUZZY SETS THEORY 430
THE FUZZY MICROCONTROLLER 432
DESIGN OF THE FUZZY REGULATOR 433
THE EXPERIMENTAL PROTOTYPE 434
CONCLUSIONS 435
ACKNOWLEDGEMENTS 435
REFERENCES 435
AUTHOR INDEX 436