Learn More
— The research described in this paper focusses on direct dynamic visual servoing. A mechanical system is controlled on the basis of vision only. Therefore, with respect to the kinematic visual servoing approaches, we do not use a hierarchical control structure. More specifically, the motor inputs are driven directly by the vision controller without the(More)
Ind~~strial feedback motion controllers are hmed using inanual loopshaping, according to certain design r~des. This controller tuning serves as a benchmark for robust control research as applied to optical and magnetic disk drive storage systems. The design and implementation of robz~st controllers for the focus servo of a compact disk and the tmcking servo(More)
— The design of a CACC system and corresponding experiments are presented. The design targets string stable system behavior, which is assessed using a frequency-domain-based approach. Following this approach, it is shown that the available wireless information enables small inter-vehicle distances, while maintaining string stable behavior. The theoretical(More)
— This paper gives an algorithm for fourth order trajectory planning with constrained dynamics for single axis motion control. A model-based feedforward controller is derived that makes full use of these trajectories. Application to industrial high-precision electromechanical motion systems is motivated. Issues like time-optimality, implementation and(More)
Atomic Force Microscopes (AFMs) are widely used for the investigation of samples at the nanometer scale. The metrological AFM used in this work uses a 3 degrees-of-freedom (DOFs) stage, driven by piezo-stack actuators, for sample manipulation in combination with a fixed cantilever. The piezo-stack actuators suffer from hysteresis, which acts as a nonlinear(More)