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This paper investigates three-dimensional dynamic model of underactuated spherical wheel mobile robot (Ballbot) in the presence of input coupling and friction. The way of how such a robot moves is considered and an approach is proposed for accurate trajectory generation for linear and circular paths. Due to the high reliability of the approach, no position feedback is used and it is simulated open-loop...
Adaptive Kalman filtering is widely used in data fusion and integration. This paper highlights the use of fuzzy inference system in INS/GPS integration for adaptation of the measurement noise covariance matrix, while the process covariance matrix is known. Selection of initial measurement noise covariance matrix, training process and an innovative adaption approach are investigated. A strapdown INS...
This paper presents a novel approach to determine and realize the virtual fixture stiffness matrix. Generally, for characterizing the stiffness matrix, stiffness of each direction needs to be known. Here, by the help of screw theory, stiffness matrix is obtained and afterwards, an impedance control strategy is employed to realize it. In addition, the extension of the proposed virtual fixture algorithm...
In this paper, the stability and tracking control problem of a task space nonlinear bilateral teleoperation system is addressed interacting with a unknown environment. The controllers consist of adaptive controller and nonlinear disturbance observer to deal with uncertain dynamic model of manipulators, environmental and operators forces, respectively, in the presence of time delay. In order to estimate...
In this paper, the problem of stability and tracking performance of FRVF (Forbidden Region Virtual Fixture) for bilateral nonlinear teleoperation systems is studied in presence of varying time delay. It is proved that PD-like controllers can stabilize the teleoperation systems with FRVF in slave side and variable time delay in communication channels. It is also proved by proposed Lyapunov-Krasovskii's...
In this paper a method for optimal selection of analyzing window for generalized S-transform has been proposed. The S-transform is applied to the signal and the S-matrix is computed, firstly. Then, a concentration measure is introduced which can be calculated according to S-matrix. At last, the Particle Swarm Optimization (PSO) algorithm is employed to select an analyzing window which presents the...
In this paper, the fundamentals and operation principles of the MEMS AC voltage reference is discussed and its model parameters are introduced. The accuracy of the manufacturing parameters of tunable MEMS capacitor as the main element of the MEMS AC voltage reference is of great significance to obtain a precise output voltage. Although many efforts are made to manufacture the MEMS tunable capacitors...
This paper studies neural networks in order to identify and control the traditional ball-plate problem. Firstly, a nonlinear model of ball and plate system consisting of two parts is established. Secondly, a multilayer perceptron neural network is employed to identify the plant. Next, a feedback controller is designed based on neural network method to control the system. Eventually, simulations are...
This paper proposes a natural gas-lift system to increases production efficiency in smart wells. The main idea is to design an appropriate controller that improves reservoir condition and increases the well cumulated oil production by controlling the daily gas-oil ratio (GOR). In the proposed system, the procedure of injecting gas is entered into the well in a controlled way which a self-tuning controller...
In this paper, the hybrid modeling and predictive control of capsule robot (capsubot) systems are presented. First, the corresponding nonlinear state space equations are obtained from capsubot dynamics. Then, these state space equations are converted to a Piece-Wise Affine (PWA) system which is a class of hybrid systems. Next, this system is transformed to a Mixed Logical Dynamical (MLD) framework...
This paper presents an optimal control method based on control effort minimization for a legless piezo capsubot. The capsubot is an underactuated nonlinear dynamics system which is driven by an internal impact force and friction. Here, motion mechanism of the capsubot is divided into two stages. In the first stage, the aim is to design an optimal controller minimizing energy consumption. In the second...
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