Design and Performance Tuning of Sliding-Mode Controller for High

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Design and Performance Tuning of Sliding-Mode Controller for High Powered By Docstoc
					OCTOBER 2009

VOLUME 56

NUMBER 10

ITIED6

(ISSN 0278-0046)

SPECIAL SECTION ON ADVANCES IN MOTION CONTROL—PART II

Guest Editorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . R. Oboe, S. Bogosyan, M. Iwasaki, and T. Murakami 3787
SPECIAL SECTION PAPERS

Deadbeat Feedforward Compensation With Frequency Shaping in Fast and Precise Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . N. Hirose, M. Iwasaki, M. Kawafuku, and H. Hirai Design and Performance Tuning of Sliding-Mode Controller for High-Speed and High-Accuracy Positioning Systems in Disturbance Observer Framework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B. K. Kim, W. K. Chung, and K. Ohba ˇ High Precision Motion Control of Servo Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . K. Jezernik and M. Rodic Servo Performance Enhancement of Motion System via a Quantization Error Estimation Method—Introduction to Nanoscale Servo Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . M. Hirata and T. Kidokoro RRO Compensation of Hard Disk Drives With Multirate Repetitive Perfect Tracking Control . . . . . . . . . H. Fujimoto Optimal Control Design for Robust Fuzzy Friction Compensation in a Robot Joint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . L. Mostefai, M. Dena¨, O. Sehoon, and Y. Hori l Modeling and Identification of Elastic Robot Joints With Hysteresis and Backlash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . M. Ruderman, F. Hoffmann, and T. Bertram Friction Compensation of an XY Feed Table Using Friction-Model-Based Feedforward and an Inverse-Model-Based Disturbance Observer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Z. Jamaludin, H. Van Brussel, and J. Swevers Iterative Design of the Reduced-Order Weight and Controller for the H1 Loop-Shaping Method Under Open-Loop Magnitude Constraints for SISO Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . S. Katayama, K. Yubai, and J. Hirai Adaptive Compensation for Reaction Force With Frequency Variation in Shaking Table Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . K. Seki, M. Iwasaki, M. Kawafuku, H. Hirai, and K. Yasuda PID-Like Neural Network Nonlinear Adaptive Control for Uncertain Multivariable Motion Control Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . S. Cong and Y. Liang Automatic Mode Matching in MEMS Vibrating Gyroscopes Using Extremum-Seeking Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . R. Antonello, R. Oboe, L. Prandi, and F. Biganzoli

3790 3798 3810 3817 3825 3832 3840 3848 3854 3864 3872 3880

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(Contents Continued from Front Cover) Model-Reference Control Approach to Obstacle Avoidance for a Human-Operated Mobile Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . N. Uchiyama, T. Hashimoto, S. Sano, and S. Takagi Kalman-Filter-Based Sensor Integration of Variable Power Assist Control Based on Human Stiffness Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C. Mitsantisuk, S. Katsura, and K. Ohishi Stability Analysis and Experimental Validation of a Motion-Copying System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Y. Yokokura, S. Katsura, and K. Ohishi Development of a Biofeedback Therapeutic-Exercise-Supporting Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . S. Komada, Y. Hashimoto, N. Okuyama, T. Hisada, and J. Hirai Nonlinear Variable Structure Filter for the Online Trajectory Scaling . . . . . . . . . . . . O. Gerelli and C. G. Lo Bianco Reinforcement Ant Optimized Fuzzy Controller for Mobile-Robot Wall-Following Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.-F. Juang and C.-H. Hsu Safe Navigation of a Mobile Robot Considering Visibility of Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . W. Chung, S. Kim, M. Choi, J. Choi, H. Kim, C. Moon, and J.-B. Song Coordinated Path-Following Control for a Group of Underactuated Surface Vessels . . . . . J. Ghommam and F. Mnif A Walking Stabilization Method Based on Environmental Modes on Each Foot for Biped Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E. Ohashi, T. Sato, and K. Ohnishi Door-Opening Control of a Service Robot Using the Multifingered Robot Hand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . W. Chung, C. Rhee, Y. Shim, H. Lee, and S. Park Baggage Transportation and Navigation by a Wheeled Inverted Pendulum Mobile Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T. Takei, R. Imamura, and S. Yuta
SPECIAL SECTION ON THE 2008 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS

3892 3897 3906 3914 3921 3931 3941 3951 3964 3975 3985

Guest Editorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . G. Asher, C. Cecati, M. N. Cirstea, and E. Monmasson 3995
SPECIAL SECTION PAPERS

Selecting Profitable Custom Instructions for Area–Time-Efficient Realization on Reconfigurable Architectures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . S.-K. Lam, T. Srikanthan, and C. T. Clarke Fully Integrated FPGA-Based Controller for Synchronous Motor Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . L. Idkhajine, E. Monmasson, M. W. Naouar, A. Prata, and K. Bouallaga Design of Reconfigurable and Robust Integrated SC Power Converter for Self-Powered Energy-Efficient Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I. Chowdhury and D. Ma Active Management of Distributed Energy Resources Using Standardized Communications and Modern Information Technologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A. Timbus, M. Larsson, and C. Yuen Indirect Adaptive Control of Induction Motor Drive System With an Elastic Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . K. Szabat, T. Orlowska-Kowalska, and M. Dybkowski Effectiveness of Saliency-Based Methods in Optimization of Neural State Estimators of the Drive System With Elastic Couplings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T. Orlowska-Kowalska and M. Kaminski Direct Current Control of a Synchronous Machine in Field Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ˇ, ´ ˇ ˇ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . M. Nemec, K. Drobnic D. Nedeljkovic, and V. Ambrozic Motor Fault Detection Using a Rogowski Sensor Without an Integrator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ´ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . O. Poncelas, J. A. Rosero, J. Cusido, J. A. Ortega, and L. Romeral Hardware-in-the-Loop Overhead Line Emulator for Active Pantograph Testing . . . . . . . A. Facchinetti and M. Mauri A Power Electrical Signal Tracking Strategy Based on the Modulating Functions Method . . . . . . . . . . . . . . . . . . . . ` . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . G. Fedele, C. Picardi, and D. Sgro Adaptive Droop Control Applied to Voltage-Source Inverters Operating in Grid-Connected and Islanded Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. C. Vasquez, J. M. Guerrero, A. Luna, P. Rodr´guez, and R. Teodorescu l A Real-Time Three-Phase Selective-Harmonic-Extraction Approach for Grid-Connected Converters . . . . . . . . . . . . . ´ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D. Yazdani, A. Bakhshai, G. Joos, and M. Mojiri A General PWM Method for a ð2n þ 1Þ-Leg Inverter Supplying n Three-Phase Machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D. Dujic, M. Jones, S. N. Vukosavic, and E. Levi

3998 4006 4018 4029 4038 4043 4052 4062 4071 4079 4088 4097 4107

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(Contents Continued from Page 3785) Space Vector Modulation for Multiphase Inverters Based on a Space Partitioning Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A. Lega, M. Mengoni, G. Serra, A. Tani, and L. Zarri 4119 Global Loss Evaluation Methods for Nonsinusoidally Fed Medium-Frequency Power Transformers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I. Villar, U. Viscarret, I. Etxeberria-Otadui, and A. Rufer 4132
SPECIAL SECTION ON APPLICATION AND CONTROL OF DOUBLY FED INDUCTION MACHINES

Guest Editorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . G. Asher and C. Chakraborty 4141
SPECIAL SECTION PAPERS

Predictive Current Control of Doubly Fed Induction Generators . . . . . . . . . . . . . . . L. Xu, D. Zhi, and B. W. Williams Reactive Power Control Design in Doubly Fed Induction Generators for Wind Turbines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B. C. Rabelo, Jr., W. Hofmann, J. L. da Silva, R. G. de Oliveira, and S. R. Silva Direct Virtual Torque Control for Doubly Fed Induction Generator Grid Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. Arbi, M. J.-B. Ghorbal, I. Slama-Belkhodja, and L. Charaabi Adaptive Observer for Sensorless Control of Stand-Alone Doubly Fed Induction Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D. G. Forchetti, G. O. Garc´a, and M. I. Valla l A Topology for Multiple Generation System With Doubly Fed Induction Machines and Indirect Matrix Converter . . . . ´ ˜ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . R. Pena, R. Cardenas, E. Reyes, J. Clare, and P. Wheeler Stability Analysis of a Wind Energy Conversion System Based on a Doubly Fed Induction Generator Fed by a Matrix ´ ˜ Converter . . . . . . . . . . . . . . . . . . . . . . . . . . R. Cardenas, R. Pena, G. Tobar, J. Clare, P. Wheeler, and G. Asher Modeling and Control of a Cascaded Doubly Fed Induction Generator Dedicated to Isolated Grids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . N. Patin, E. Monmasson, and J.-P. Louis Stator-Flux-Oriented Vector Control for Brushless Doubly Fed Induction Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . S. Shao, E. Abdi, F. Barati, and R. McMahon Doubly Fed Induction Generator Model-Based Sensor Fault Detection and Control Loop Reconfiguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . K. Rothenhagen and F. W. Fuchs Current Sensor Fault Detection, Isolation, and Reconfiguration for Doubly Fed Induction Generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . K. Rothenhagen and F. W. Fuchs Ride Through of Wind Turbines With Doubly Fed Induction Generator Under Symmetrical Voltage Dips . . . . . . . . . ´ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. Lopez, E. Gub´a, E. Olea, J. Ruiz, and L. Marroyo l
SPECIAL SECTION ON INDUSTRIAL WIRELESS SENSOR NETWORKS

4143 4154 4163 4174 4181 4194 4207 4220 4229 4239 4246

Guest Editorial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P. Neumann, L. Rauchhaupt, and G. P. Hancke 4255
SPECIAL SECTION PAPERS

Industrial Wireless Sensor Networks: Challenges, Design Principles, and Technical Approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . V. C. Gungor and G. P. Hancke Which Wireless Technology for Industrial Wireless Sensor Networks? The Development of OCARI Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . K. Al Agha, M.-H. Bertin, T. Dang, A. Guitton, P. Minet, T. Val, and J.-B. Viollet Integration of a Wireless I/O Interface for PROFIBUS and PROFINET for Factory Automation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. Kjellsson, A. E. Vallestad, R. Steigmann, and D. Dzung Exploiting Backbone Routing Redundancy in Industrial Wireless Systems . . . . . . . . . . . . . . . . . . . . . . . . . Y. Ishii Simple Pedestrian Localization Algorithms Based on Distributed Wireless Sensor Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . H.-S. Ahn and K. H. Ko

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