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Welding robots with strong robustness and high-precision trajectory tracking control play an important role in performing automatic welding processes under complex dynamic environments. This paper proposes a new variable structure control (VSC) based on multi-sliding-surface for welding robots with parameter uncertainties. The whole sliding-mode surface of VSC is divided into three sub-sliding-mode-surfaces...
Jumping robots provide an effective solution to overcome obstacles and perform locomotion in a rough and unstructured terrain. In this paper, an overview of jumping robots' principle, types, jumping and energy storage mechanism, uprighting mechanism, steering mechanism and models of kinematic and dynamic are presented. The existing technical problems and the future work are also discussed.
The hydraulic excavator of field robot has been used in various fields of construction, such as digging, carrying loads, grounding and dumping loads. However, operating excavators in the hazard environment such as earthquake, nuclear decomposition etc is not suitable for human to operate on site. Therefore, a number of the skilled operator is gradually reduced by the dangerous working environment...
Field robot represented by excavator can be applied for various working in manufacturing, construction, agriculture etc. Because of the flexibility of its multi-joint mechanism and the high power of hydraulic actuators. Since the excavator operates in the hazardous working circumstance, operators exposed in harmful environment. Therefore, automation system has been investigated to protect from the...
This paper studies the sampled-data control problem for master-slave synchronization schemes that consist of identical chaotic Lur'e systems. By capturing the characteristic of the discussed system with a novel piecewise Lyapunov-Krasovskii functional (LKF), a new synchronization criterion is formulated as linear matrix inequalities (LMIs). Compared with the existing works, the discussed system is...
A growing exhaustion of natural oil resources, along with a heightened concern about the oil price, has LED to research alternative energy source for automotive vehicles. One of these alternatives is Hybrid Electric Vehicle (HEV). An HEV is a hybrid vehicle that uses two or more distinct power sources to move; generally an internal combustion engine and one or more electric motors. The rate of fuel...
In this paper, the adaptive friction compensation schemes are developed to provide much enhanced position tracking performance against nonlinear dynamic friction. The adaptive friction parameter observer possessing a simple structure and to be easy to implementation into controller is first studied to estimate the friction parameters. The process of the uncertainty approximation using the RFNN technique...
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