Model Predictive Control (MPC) is applied in order to improve the transient response in diesel engine air intake systems. In actual engines, a steady state error is generated due to disturbances such as the fluctuation of air intake and fuel injection amounts and the modeling error of the systems. This causes target tracking deterioration. In order to cancel the steady state error, we evaluate three compensation methods in simulations and actual transient response tests: a) a method of incorporating the constant disturbance model, b) a method of explicitly incorporating an integrator, and c) a method using a disturbance observer in motion control. We clarify the configuration of MPC effective for improving target tracking performance.
To study of autonomous control of a space robot, we developed our Advanced Space Robot Testbed with Redundant Arms (ASTRA).Berthing a satellite moving in space is a difficult and dangerous task when done manually. This paper describes a robot which berthed a mockup satellite moving and rotating in zero graviry. Features of the robot include autonomous approach to a moving target satellite using visual satellite motion estimation, using real-time visual tracking control to track satellite handles with two robot a m , and grasping the satellite handles with minimum mechanical shock using a flexible wrist mechanism and impedance control. We ran our satellite berthing experiment on the ASTRA to check its pegomnce.
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