Paolo Mercorelli

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P. Terwiesch P. Mercorelli Automation Technologies – ABB Corporate Research Segelhof, CH-5405 Baden (Switzerland) Tel. +41 56 486 8319 – Fax +41 56 486 7365 Automation and Information Technology Department – ABB Corporate Research. Speyerer Str. 4, D-69115 Heidelberg (Germany). Tel. +49 6221 596263 – Fax +49 6221 596253(More)
In this paper we present theoretical and experimental results for designing and operating a special linear electromagnetic motor as a variable engine valve actuator. Detailed description is given to the design procedure to meet the requirements of high dynamic and low power consumption, including the determination of actuator topology and parameters, the(More)
The geometric control properties of vehicles with active suspensions are analyzed. A special attention is devoted to the problem of disturbance decoupling. Active suspensions of advanced vehicles allow the active rejection of external disturbances exerted on the sprung mass of the vehicle and caused by road surface irregularity. We focus on the road(More)
This paper deals with the problem of controlling contact forces in robotic manipulators with general kinematics. The main focus is on control of grasping contact forces exerted on the manipulated object. A visco{elastic model for contacts is adopted. The robustness of the decoupling controller with respect to the uncertainties a ecting system parameters is(More)
The paper presents the controller design for a highforce short-stroke linear actuator using permanent magnets as excitation. For the desired application a very high dynamic is required despite the presence of large disturbances. After the model description, a flatness based control is presented to force the system following a reference trajectory.(More)
Camless internal combustion engines offer improvements over traditional engines in terms of increased torque performance and fuel economy and of decreased emissions and pumping losses. The main goal of this project is to replace the camshaft system with electromagnetic actuators to control the intake and exhaust valves of internal combustion engines.(More)
This paper investigates the geometric and structural characteristics involved in the control of general mechanisms and manipulation systems. These systems consist of multiple cooperating linkages that interact with a reference member of the mechanism (the “object”) by means of contacts on any available part of their links. Grasp and manipulation of an(More)