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Title: Packet-based feedback control of electrical drive and its application to trajectory tracking of manipulator
Authors: Mochiyama, Shiu
Hikihara, Takashi  kyouindb  KAKEN_id  orcid https://orcid.org/0000-0002-0029-4358 (unconfirmed)
Author's alias: 持山, 志宇
引原, 隆士
Keywords: electrical drive
experiment
feedback control
manipulator
power packet
Issue Date: Apr-2019
Publisher: Wiley
Journal title: International Journal of Circuit Theory and Applications
Volume: 47
Start page: 612
End page: 632
Abstract: In systems disconnected from the external grid, such as mobile robots and vehicles, the effective use of renewables and energy harvesting techniques helps a longer operation with less weight and space for batteries. Power packet dispatching system is a promising measure to manage the complex power flow created by such distributed power sources of various profiles. In the system, power is transferred as a pulse, and information tag is attached to the pulse power in voltage waveforms. The physical integration of power and information realizes a smooth inclusion of sources and loads of different profiles and their decentralized operation. This paper discusses the application of the system to load control. We propose a decentralized packet‐based feedback control scheme. The successful operation of the proposed scheme is confirmed by an application to an electrical drive. In addition, the application to trajectory control of 2‐degree‐of‐freedom manipulator reveals the possibility of a peak‐power reduction based on a demand response operation of the proposed scheme. The results contribute to a realization of decentralized flow control of power packets based on the convenience of both the sources and the loads.
Rights: This is the peer reviewed version of the following article: Mochiyama, S, Hikihara, T. Packet‐based feedback control of electrical drive and its application to trajectory tracking of manipulator. Int J Circ Theor Appl. 2019; 47: 612– 632. , which has been published in final form at https://doi.org/10.1002/cta.2603. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions.
The full-text file will be made open to the public on 14 April 2020 in accordance with publisher's 'Terms and Conditions for Self-Archiving'.
This is not the published version. Please cite only the published version. この論文は出版社版でありません。引用の際には出版社版をご確認ご利用ください。
URI: http://hdl.handle.net/2433/240877
DOI(Published Version): 10.1002/cta.2603
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