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This paper presents an experimental comparison of various model-independent control strategies implemented on a system with unbalanced rotating mass. Proportional-Integral-Derivative (PID), Robust Tracking with Control Vector Constraints (RTCVC), and Active Disturbance Rejection Control (ADRC) are considered in this research. Although these control algorithms deal with parametric uncertainties, external...
This paper presents a fully automatic algorithm evaluating the knee joint kinematics on the basis of X-ray images. The practical instantaneous center of rotation (ICR) path acts as the main feature of interest. The X-ray images taken from unhealthy child subject while knee flexion, are used as an input data. A clear description of each step of the procedure is provided in the paper, i.e. the image...
In this paper an Active Disturbance Rejection Control (ADRC) scheme is used to solve a sag control problem that has been noticed in tire production process. Constant length of the rubber sag is crucial in order to achieve high quality of tire reinforcement, which has its direct impact on driver safety. The ADRC method was compared in this research with other model-independent controller, i.e. Proportional-Integral-Derivative...
In this paper, one of the possibilities of introduction of variable stiffness in a rehabilitation manipulator for lower limbs, is described. Mechanical design and working principle of a proposed system are presented. The following control algorithms for manipulators with flexible joints are suggested: the position control and the active impedance control. The tracking performance is experimentally...
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