Dynamic modeling and trajectory tracking control of an electromagnetic direct driven spherical motion generator

Dynamic tracking effect of a magnetic navigated dual hemisphere capsule robot

“…Assuming that the initial condition is (5 o , 5 o ), the ideal trajectory of the DHCR's axis is α = 10 cos(π t) , β = 10 sin(π t). To consider the parametric uncertainty, thus, the parameter of the nominal model used in the control law can be given as 0.8 of the real ones [32]. And the control parameters λ = diag (20,20), and the K r can be obtained by (26).The simulation results are shown in Fig.…”

Adaptive backstepping controller based on a novel framework for dynamic solution of an ankle rehabilitation spherical parallel robot

“…The foundation of these controllers is referred to as the computed torque control (CTC) and passivity-based control schemes [44]. In the presence of model uncertainties, the CTC approach is unable to provide high trajectory tracking performance [45].…”

Nonlinear optimal control for permanent magnet synchronous spherical motors

“…The dynamics of the rotor’s turn motion are determined by Euler–Lagrange equations (Wen et al , 2022; Rigatos, 2015a; Rigatos and Karapanou, 2020). This dynamic model receives as control inputs three torque variables which determine rotation by a certain angle around the axes of a cartesian coordinate frame (Xia et al , 2010; Li et al , 2018; Li et al , 2019). These mechanical torque variables are in turn associated with the currents of stator’s EMs through an algebraic matrix relation (Yan et al , 2014; Rossini et al , 2013; Yan et al , 2010).…”