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The development of the control of a Fuel Cell/Supercapacitor system for Electric Vehicle must take into account the stability constraints related to the associations of its components. Numerous studies have achieved control and energy management of Fuel Cell/Supercapacitor Electric Vehicle but real-time applications are insufficient or the stability is not ensured. In this paper, the development of...
In this work, a fuzzy logic control system is proposed for PMSMs without knowledge of the machine's parameters. The scheme consists of two adaptive fuzzy controllers, respectively for velocity and direct current control. The control scheme stability is proven by the Lyapunov stability theory and its performance is validated through a set of simulations on an experimentally validated PMSM model. The...
In this paper, we propose an adaptive friction compensation strategy for flexible-joint robotic manipulators, taking into account Coulomb friction for the actuator and the load. For such systems, the exact inverse model is unrealizable and only an approximation can be found. The proposed adaptive control strategy consists of a rigid-based linear in parameter feedforward model that approximates the...
In this paper, we introduce an adaptive control methodology of piezoelectric actuators for microelectromechanical manipulation mechanisms. The adaptive control strategy capitalizes on the piezoelectric actuator's inverse model to design an adaptive controller using a Lyapunov-based adaptation technique. The controller achieves high precision motion tracking under hysteresis nonlinearities, parametric...
A passivity and Lyapunov based approach for the control design is presented for the trajectory tracking problem of flexible joint robots. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. Feedforward selection is analyzed and passivity theory is used to design a motor state-based controller in order to input-output stabilize the...
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