...-to-state stability. Lookup tables, which are widely used to represent the complex nonlinear characteristics of engine systems, appear in their original form in the designed reduced-order observer, and the torsional stiffness of the drive axle shaft is considered in the model-based design procedure...

...Dilip Prasad; Brice N. Cassenti This investigation examines the problem of lateral belt motion (“tracking”) in belt drive systems using a mechanics-based approach. It is shown that the motion of a belt over a pulley of arbitrary shape with angular misalignment between the belt and pulley axes can...

...Curt Preissner; Thomas J. Royston; Deming Shu In this paper, a new model of the harmonic drive transmission is presented. The purpose of this work is to better understand the transmission hysteresis behavior while constructing a new type of comprehensive harmonic drive model. The four dominant...

...Dooroo Kim; Michael J. Leamy; Aldo A. Ferri This paper presents an analysis of a nonlinear (piecewise linear) dynamical model governing steady operation of a flat belt drive using a physically motivated elastic/perfectly plastic (EPP) friction law. The EPP law models frictional contact...

...A. K. Samantaray; S. S. Dasgupta; R. Bhattacharyya The rotating internal damping or nonconservative circulatory force in a rotor shaft system causes instability beyond a certain threshold rotor spinning speed. However, if the source loading of the drive is considered, then the rotor spin...

...Chinedum Okwudire; Yusuf Altintas This paper presents modeling, identification, and discrete-time sliding mode control of ball screw drives with structural flexibility. The mechanical system of the drive is modeled by a two degree-of-freedom system dominated by the coupled longitudinal...

... drive systems because it corresponds to a constant force or torque input. It is shown that some input shapers are not affected by an acceleration limit under certain conditions. A test criterion is developed to determine what types of input shapers are negatively affected, and a method is proposed...

...Wen-Hong Zhu; Erick Dupuis; Michel Doyon Aimed at achieving ultrahigh control performance for high-end applications of harmonic drives, an adaptive control algorithm using additional sensing, namely, the joint and motor positions and the joint torque, and their practically available time...

...Hamidreza Karbasi; Amir Khajepour; Jan Paul Huissoon In this paper, a control design methodology for the new class of modular robots so-called “unidrive modular robots” is introduced. Unidrive modular robots because of employing only a single drive for operating all the joints have a substantial...