ORIENTATION CONTROL OF A 3-D UNDERACTUATED DRILL MACHINE BASED ON DISCRETE-TIME EQUIVALENT MODEL

Mohammad B. Malik, Fahad M. Malik, and Khalid Munawar

References

  1. [1] E. Chalupa, Numeric control drilling jig-multiple-axis aerospace drilling machine, US Patent #6419426, issued July 2002.
  2. [2] L. Kechagias, A.G. Bors, and I. Pitas, Virtual drilling-sculpturing in 3-D volumes, Proc. EMBSS Int. Conf, Istanbul, Turkey, 2001.
  3. [3] E. Anderson and M. Anderrs, A three axis torque motor of very high steady state and dynamic accuracy, Proc. IEEEPower Tech. Conf., Stockholm, 1995, 304–309.
  4. [4] R. Bedereson, R. Wallace, and E. Schwartz, A miniature pan-tilt actuator: The spherical pointing motor, IEEE Transactions on Robotics and Automation, 10, 1994, 298–308.
  5. [5] K. Kaneko, I. Yamada, and K. Itao, A spherical DC servomotor with three degrees of freedom, ASME Transactions Journal of Dynamic Systems Measurement and Control, 3, 1989, 398–402.
  6. [6] J. Wang, G.W. Jewell, and D. Howe, Analysis design andcontrol of a novel spherical permanent magnet actuator, IEEProceedings Electric Power Applications, 145(1), 1998, 61–71.
  7. [7] K.-M. Lee and H. Son, Distributed multipole model for design of permanent magnet based actuators, IEEE Transactions on Magnetics, 43(10), 2007, 3904–3913.
  8. [8] H. Son and K.-M. Lee, Distributed multi-pole model for motion simulation of permanent magnet based spherical motor, Proc. IEEE/ASME Int. Conf on Adv. Intell. Mechatronics, 2007, 1–6.
  9. [9] A.M. Bloch, Nonholonomic mechanics and control. (New York: Springer Science + Business Media, LLC, 2003).
  10. [10] N.P.I. Aneke, Control of underactuated mechanical systems, Ph.D. Dissertation, Eindhoven, The Netherlands, 2003.
  11. [11] A.M. Bloch, M. Reyhanoglu, and N.H. McClamroch, Control and stabilization of nonholonomic dynamic systems, IEEE Transactions on Automatic Control, 37(11), 1992, 1746–1757.
  12. [12] F.M. Malik, M.B. Malik, and K. Munawar, Sampled-data state feedback stabilization of a class of nonlinear systems based on Euler approximation, Asian Journal of Control, 13(1), 2011, 1719–1728.
  13. [13] D. Nesic, A.R. Teel, and P.V. Kokotovic, Sufficient conditions for stabilization of sampled-data nonlinear systems via discrete-time approximations, Systems & Control Letters, 38(4–5), 1999, 259–270.
  14. [14] D. Nesic and A.R. Teel, A framework for stabilization of nonlinear sampled-data systems based on their approximate discrete-time models, IEEE Transactions on Automatic Control, 49(7), 2004, 1103–1122.
  15. [15] R.M.C. De Keyser, G.A. Van de Welde, and F.G.A. Dumortier, A comparative study of self-adaptive long range predictive control methods, Automatica, 24, 1988, 149–163.
  16. [16] C.E. Garcia, D.M. Prett, and M. Morari, Model predictive control: Theory and practice, Automatica, 25, 1989, 325–348.
  17. [17] C.T. Chen, Linear systems: Theory and design, 2nd ed.(Orlando: Saunders College Publishing, 1984).
  18. [18] W.J. Rugh, Linear system theory, 2nd ed. (New Jersey: Prentice Hall, 1996).
  19. [19] H.K. Khalil, Nonlinear systems, 3rd ed. (New Jersey: Prentice Hall, 2002).

Important Links:

Go Back