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In this paper, a suspended mobile platform with two 3 DOF manipulators, is used to manipulate an object in a combined circular-straight path. The multiple impedance control (MIC) is used as a model-based algorithm which has been shown to have desirable performance in case of impact with an obstacle and system flexibility. The MIC enforces same impedance law both on the robotic system, and the manipulated...
Electro-hydraulic servovalve are usually an important part in mechatronic systems. The simplified governing equations for such systems already exist in literature. A comprehensive theoretical analysis of a two-stage electro hydraulic servo valve with a spool position feedback is carried out considering two main probable effects, underlap and back pressure. These analyses are based on fundamental laws...
In this article, based on feedback linearization using Lyapunov design method, an adaptive controller is proposed for an Aerial Robot or unmanned aerial vehicle (UAV). After introducing a nonlinear dynamics model of the system in case of longitudinal equations, comparing controllers are designed to manage the system performance during various maneuvers. Also, stability analysis for the designed adaptation...
Exploiting backlash free mechanisms and gearboxes, the stiffness of servo axes in CNC machines can be improved. In fact, the rigidity of these axes will be increased, so that different types of feedforward control can be implemented. Furthermore, backlash free mechanisms facilitate designing foolproof systems without challenging with the instability and nonlinear behavior of backlash. However, any...
The modified transpose Jacobian (MTJ) algorithm is a recently proposed algorithm used in manipulator control. Based on an approximated feedback linearization approach the MTJ does not need to a priori knowledge of the plant dynamics. In this paper, this scheme is extended to the complicated control problem of underactuated robots in Cartesian space. Based on the notion of transpose effective Jacobian,...
The modified transpose Jacobian (MTJ) algorithm has been proposed, based on an approximated feedback linearization approach, in which there is no need to a priori knowledge of the plant dynamics. In this paper, a Learning-based modified transpose Jacobian (LMTJ) control algorithm is presented for trajectory tracking of robotic manipulators in an iterative operation mode. In this new control method,...
In this paper, a non-linear multiobjective optimization model is developed to obtain optimal annual scheduling for control of power generation in serial or parallel hydropower plants. Weighted-sum method is used to convert multiobjective optimization to single objective problem. Then, Sequential Quadratic Programming (SQP) is used, based on using Newtonpsilas method and Kune-Tucker conditions, to...
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