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A newly developed five D.O.F. (degrees of freedom) miniature mobile robot system is presented. It consists of a moving positioning module with macro/micro dual driven modes and a three rotational D.O.F. spherical micromanipulator module. With the macro motion mode, the robot is a typical wheeled mobile robot, which is driven by two small size brushless DC motors. With the micro motion mode, based...
The levitation control in a linear magnetic-levitation (maglev) rail system is a subject of considerable scientific interest because of highly nonlinear and unstable. This study mainly focuses on the sequential developments of backstepping-based control systems including a backstepping control (BSC), an adaptive backstepping control (ABSC) and an adaptive dynamic surface control (ADSC) for the levitated...
This paper deals with the control of heat and mass transfer processes. The mathematical model of these processes is presented by a distributed parameter system with a so called distributed control and described by an inhomogeneous parabolic partial differential equation in one space dimension. The actuators in these processes are located above the channel, through that the medium to be heated flows...
This article puts forward a new heading system (including heading measurement and heading control) framework of micro air vehicle (MAV) starting from practical application, then designs a plan in which three most popular heading measurement methods, magnetic heading, strapdown heading and GPS heading, are implemented in a mini system, analyzes their strong and weak points one by one, and provides...
The concept of selective actuation (SA) is introduced in flexure parallel mechanism (FPM) design. A selectively actuation FPM has decoupled motion mechanical structure as well as a modularly mounted 1-DOF actuator for each motion axis of the FPM. The kinematic structure of SA-FPM is obtained based on the diagonal form of the manipulator Jacobian and screw-based synthesis approach. The flexure structure...
Aiming at the uncertain NCS with bounded long time delay, the time-varying network-delay is translated into constant loop-delay by setting the proper network interface, and the augmented plant model implicating delay information is established. Then for the uncertain part of system, a disturbance estimator is designed. On the basis of the above mentioned studies, a class of disturbance-estimated sliding...
In this paper we propose a new control algorithm for trajectory tracking of a robotic manipulator. Our controller is designed by combining a fixed controller and an adaptive fuzzy controller for tracking a desired trajectory in the vicinity of uncertain environment and change in manipulator dynamics. The controlled system is characterized by feedforward and feedback components which can be computed...
This paper discusses how linear fractional transformation (LFT) technique and mu-analysis and synthesis theory can be applied into the design of robust haptic telemanipulation systems with multiple uncertain sources including communication time delay, and presents a framework of controller design for such a system under the assumption that all components in the system possess uncertainty
The design strategy of adaptive controller for anti-slip system of EV (electric vehicle) is proposed. The proposed system is constructed by preparing both systems of disturbance observer and parameter estimation. The load variation of the tire slip is observed as the equivalent disturbance of motor system by employing the adaptive disturbance observer, and the vehicle speed is estimated. The tire...
In using linear dampers for the vibration suppression of flexible structures, their mounting locations and the damping coefficients have to be chosen properly. In this paper, an approach based on the mechatronic design quotient (MDQ) is presented for the optimal design of linear dampers in the vibration control of flexible beams. This approach strives to make the optimal concurrent design of the dampers...
This paper studies the problem of motion and control law design for a mobile robot that moves inside a partially unknown environment, under the assumption of parametric uncertainty in the model that describes the motion of the robot. This paper deals with a fuzzy-based intelligent mobile robotic system by hierarchical structure that requires various capabilities normally associated with intelligence...
The paper develops a new measurement system based on computer visual feedback and adopts the nonlinear control method for measuring and controlling the synchronization error of dual-cylinder-group electro-hydraulic system in the pushing railway bridge machinery. According to theory of computer visual feedback, a new kind of model of measurement system and the algorithm of transformation of coordinates...
The structure of an autonomous underwater vehicle is introduced, its dynamic model is established and simulation result is presented. Its stable and reliable control system design is discussed in detail from main control unit, communication unit to motor driving unit. A double-server, warm-cold backup scheme is used to design the control system of the AUV in order to make it more tolerant and reliable,...
A cloud model-based controller which needs no mathematical models of plant is presented in this paper for the trajectory tracking control of a flexible-link manipulator with poorly known dynamics. Based on the singular perturbation method and the time-scale decomposition, the flexible-link manipulator model is decomposed into a slow subsystem of an equivalent rigid-link manipulator and a fast subsystem...
In this paper, an advanced PI control method was analyzed. The analysis of Bode plot in frequency domain, and the experiment shows that advanced controller is better than the existing PI controllers. They can achieve higher bandwidth, lower settling time and better disturbance rejection ability. The increased performance costs little in sensor noise amplification. We show using true-life design examples...
In this paper, a discrete time multi-channel learning controller is proposed. This multi-channel method aims to extend the learnable frequency band of a learning control system and thus improve the learning performance. In each channel, a simple learning controller is used. More channels with such simple learning controllers produce wider learnable band. Two illustrative design approaches are demonstrated...
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