Search results for "Differentiator"
showing 7 items of 7 documents
Model-Free Sliding-Mode-Based Detection and Estimation of Backlash in Drives With Single Encoder
2021
Backlash is a frequently encountered problem for various drives, especially those equipped with a single encoder onside of the controlled actuator. This brief proposes a sliding-mode differentiator-based estimation of unknown backlash size while measuring the actuator displacement only. Neither actuator nor load dynamics are explicitly known, while a principal second-order actuator behavior is assumed. We make use of the different perturbation dynamics distinctive for different backlash modes and an unbounded impulse-type perturbation at impact. The latter leads to transient loss of the sliding-mode and allows for detecting an isolated time instant of the backlash occurrence. The proposed m…
Use of second-order sliding mode observer for low-accuracy sensing in hydraulic machines
2018
Low-accuracy sensing is very common for the large hydraulic machines and does not allow for directly measuring the relative velocity which can be, otherwise, required for the control and monitoring purposes. This paper provides a case study of designing the second-order sliding mode observer based on the super-twisting robust exact differentiator. The nominal part of the system dynamics is derived from the simple available system measurements and incorporated into the observer structure. Parasitic by-effects, arising from the sensor sampling, quantization, and non-modeled distortions due to mechanical sensor interface, are shown as the main causes of hampering the final (steady-state) conve…
Virtual sensing of load forces in hydraulic actuators using second- and higher-order sliding modes
2019
Abstract External load forces are challenging for sensing or estimating in the hydraulic actuators. Once it is due to inconvenient instrumentation of the force sensors, especially on an open-end mechanical interface. The other way, the complex nonlinear system behavior aggravates reconstructing the system states in a robust and real-time suitable manner. This paper proposes a sensorless estimation of external load forces in standard hydraulic actuators by using a well-established equivalent output injection of the second-order sliding mode and also higher-order sliding mode differentiator. Only the basic inertial and frictional parameters are assumed to be known from an initial identificati…
Improved Active Disturbance Rejection Control for Trajectory Tracking Control of Lower Limb Robotic Rehabilitation Exoskeleton.
2020
Neurological disorders such as cerebral paralysis, spinal cord injuries[acronym](SCI), and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and muscular weaknesses caused by aging [english]affectsaffect people and can cause them to lose their ability to perform daily routine functions. In order to help people recover or improve their dysfunctional activities and quality of life after accidents or strokes, assistive devices like exoskeletons and orthoses are developed. Control strategies for control of exoskeletons are developed with the desired intention of improving the qual…
Linear and nonlinear fiber propagation of partially coherent fields exhibiting temporal correlations
2019
International audience; Using ultrafast photonic first-order differentiator applied on a partially coherent field, we report the generation of two correlated temporal waveforms and study their correlation properties upon linear and nonlinear propagation along the two orthogonal polarization axis of a dispersive optical fiber. Temporal correlations are maintained in linear propagation whereas Kerr nonlinearity generates anti-correlated temporal intensity patterns for both partially and uncorrelated fields. Experiments are in close agreement with the theoretical analysis.
In-fiber all-optical fractional differentiator
2009
We demonstrate that an asymmetrical pi phase-shifted fiber Bragg grating operated in reflection can provide the required spectral response for implementing an all-optical fractional differentiator. There are different (but equivalent) ways to design it, e.g., by using different gratings lengths and keeping the same index modulation depth at both sides of the pi phase shift, or vice versa. Analytical expressions were found relating the fractional differentiator order with the grating parameters. The device shows a good accuracy calculating the fractional time derivatives of the complex field of an arbitrary input optical waveform. The introduced concept is supported by numerical simulations.
In-Fiber Fractional Signal Processing: Recent Results and Applications
2018
The implementation of mathematical operators using photonic signal processing –as for example, conventional differentiators and integrators– is particularly well suited to overcome the speed and bandwidth limitations of electronics. In the Laboratory of Fiber Optics of the University of Valencia we work on the development of in-fiber time-domain fractional operators and their applications. In the last years we have made some specific proposals to perform photonic fractional differentiation (PFD), photonic fractional integration (PFI), photonic fractional Hilbert transform (PFHT), and photonic fractional Fourier transform (PFFT), using fiber-based technologies. Recently, we have been able to…