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— 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)
— 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)
In this paper, we study the stability of Networked Control Systems (NCSs) that are subject to time-varying transmission intervals and communication constraints in the sense that, per transmission, only one node can access the network and send its information. The order in which nodes send their information is dictated by a network protocol , such as the(More)
—This paper presents a frequency domain identification of dynamic model parameters for frictional presliding behavior. The identification procedure for the dynamic model parameters, i.e., 1) the stiffness and 2) the damping of the pres-liding phenomenon, is reduced from performing several dedicated experiments to one experiment where the system is excited(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)