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In this paper, we propose a fault detection, isolation and fault-tolerant control scheme for a class of nonlinear uncertain systems with possible state and sensor failures. First, a model-based nonlinear estimator using input-output information is designed by considering both state and sensor failures. This estimator is used to generate the residual signal which is for detecting both state and sensor...
This paper describes a biologically inspired algorithm mimicking locomotion, and associated brain inspired software architecture to model bipedal gait. The central pattern generator (CPG) neural network is first modeled and next, self-organizing maps of gait for running and walking are created. This biological or brain inspired neural network model is finally assimilated to account for cortical control...
This work proposes the development of a supervisory control system in order to facilitate In Vitro Fertilization process. This medical procedure requires decision making for a series of discrete event, while one of its main components, fluid temperature control, is a continuous process. A programmable logic controller is used to receive desired settings from users and automatically closes these loops...
In this paper, we propose control approaches for air bearing stages. First, we consider the case in which air bearing system is a linear stage. A control scheme incoporated with eddy current braking is proposed, where two control inputs are introduced to handle the nonlinear air bearing system. Secondly, we consider the case in which air bearing system is a spherical stage. The control scheme involves...
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