54,081 research outputs found
Robust position control of ultrasonic motor using VSS observer
Intrinsic properties of ultrasonic motor (high torque for low speed, high static torque, compact in size, etc.) offer great advantages for industrial applications. However, when load torque is applied, dead-zone occurs in control input. Therefore, sliding mode controller, which is a nonlinear controller, is adopted for ultrasonic motor. The state quantities, such as acceleration, speed, and position are needed to apply the sliding mode controller for position control. However, rotary encoder causes quantization errors in the speed information. This paper presents a robust position control method for ultrasonic motor by using Variable Structure System(VSS) observer. The state variables for sliding mode controller are estimated by the VSS observer. Besides, a small, low cost, and good response sliding mode controller is designed in this paper by using a micro computer that is essential in embedded system for the developments of industrial equipments. The effectiveness of the proposed method is verified by experimental results
CIDPro: Custom Instructions for Dynamic Program Diversification
Timing side-channel attacks pose a major threat to embedded systems due to
their ease of accessibility. We propose CIDPro, a framework that relies on
dynamic program diversification to mitigate timing side-channel leakage. The
proposed framework integrates the widely used LLVM compiler infrastructure and
the increasingly popular RISC-V FPGA soft-processor. The compiler automatically
generates custom instructions in the security critical segments of the program,
and the instructions execute on the RISC-V custom co-processor to produce
diversified timing characteristics on each execution instance. CIDPro has been
implemented on the Zynq7000 XC7Z020 FPGA device to study the performance
overhead and security tradeoffs. Experimental results show that our solution
can achieve 80% and 86% timing side-channel capacity reduction for two
benchmarks with an acceptable performance overhead compared to existing
solutions. In addition, the proposed method incurs only a negligible hardware
area overhead of 1% slices of the entire RISC-V system
Terminal sliding mode control strategy design for second-order nonlinear system
This study mainly focuses on the terminal sliding mode control (TSMC) strategy design, including an adaptive terminal sliding mode control (ATSMC) and an exact-estimator-based terminal sliding mode control (ETSMC) for second-order nonlinear dynamical systems. In the ATSMC system, an adaptive bound estimation for the lump uncertainty is proposed to ensure the system stability. On the other hand, an exact estimator is designed for exact estimating system uncertainties to solve the trouble of chattering phenomena caused by a sign function in ATSMC law in despite of the utilization of a fixed value or an adaptive tuning algorithm for the lumped uncertainty bound. The effectiveness of the proposed control schemes can be verified in numerical simulations.<br /
An energy-based state observer for dynamical subsystems with inaccessible state variables
This work presents an energy-based state estimation formalism for a class of dynamical systems with inaccessible/ unknown outputs, and systems at which sensor utilization is impractical, or when measurements can not be taken. The
power-conserving physical interconnections among most of the dynamical subsystems allow for power exchange through their power ports. Power exchange is conceptually considered as information exchange among the dynamical subsystems and further utilized to develop a natural feedback-like information
from a class of dynamical systems with inaccessible/unknown outputs. This information is used in the design of an energybased state observer. Convergence stability of the estimation error for the proposed state observer is proved for systems with linear dynamics. Furthermore, robustness of the convergence stability is analyzed over a range of parameter deviation and model uncertainties. Experiments are conducted on a dynamical system with a single input and multiple inaccessible outputs (Fig. 1) to demonstrate the validity of the proposed energybased state estimation formalism
An Energy-Based State Observer for Dynamical Subsystems with Inaccessible State Variables
This work presents an energy-based state estimation formalism for a class of dynamical systems with inaccessible/ unknown outputs, and systems at which sensor utilization is impractical, or when measurements can not be taken. The power-conserving physical interconnections among most of the dynamical subsystems allow for power exchange through their power ports. Power exchange is conceptually considered as information exchange among the dynamical subsystems and further utilized to develop a natural feedback-like information from a class of dynamical systems with inaccessible/unknown outputs. This information is used in the design of an energybased state observer. Convergence stability of the estimation error for the proposed state observer is proved for systems with linear dynamics. Furthermore, robustness of the convergence stability is analyzed over a range of parameter deviation and model uncertainties. Experiments are conducted on a dynamical system with a single input and multiple inaccessible outputs (Fig. 1) to demonstrate the validity of the proposed energybased state estimation formalism
- …