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This paper presents a comparison of different control methods for injection valves. Four control approaches are included: Feedback Linearization, Backstepping, Sliding Mode Control and Lyapunov's Direct Method. The approaches are extended by an adaptive scheme. Control robustness and performance towards noise as well as parameter and system dynamic uncertainty are analysed. Simulation results and...
A fast terminal sliding mode (FTSM) observer is proposed to estimate the anomaly seen as an external disturbance perturbing into the queue dynamics in the TCP/IP networks. The TCP traffic dynamic behaviour, which is represented by a TCP/IP fluid-flow model, can be captured by the observer in the router level. A smooth control signal for the observer based on the fast TSM strategy is obtained and directly...
This paper proposes a novel driving assistance system for a manual wheelchair. On an inclination road, there is a high risk of moving the direction, which a manual wheelchair user does not intend, because of a gravitational force. Our proposed system cancels the wheel traction, which is generated according to the inclination of the road, using only servo brakes on each wheel. Our system measures the...
This paper proposes a model-free motion control approach for a robotic fish. The fish-like swimming gaits first are generated by a general internal model (GIM)-based learning approach for the robot. Then, a feedforward controller and a proportional-integral-derivative (PID)-based feedback controller are scheduled to control the swimming gaits of the robot to achieve desired motion. To improve the...
This research proposes a motion training system based on motion-copying system with the space and time domain admittance control. In order to apply a motion-copying system to the motion training system, a structure of dual motion reproduction system is introduced in which a motion reproduction system is constructed not only at a slave system but also a master system. Not only the slave system but...
The aim of this study is to develop a driving module that can be attached to a manual wheelchair with an easy-docking mechanism to assist persons with lower-limb disabilities. The driving module consists of a motorized driving mechanism, embedded control boards, and an easy-docking mechanism, which can together be used to convert a manual wheelchair to an electrical wheelchair. The core of the easy-docking...
In this paper, a new adaptive controller is proposed for ultra-local model based control. The concept is based on the algebraic derivation techniques to estimate the two ultra-local model parameters. A comparison study with the control method of Fliess-Join which is based on some elementary differential algebra is developed. The robustness of the ultra-local model controllers with respect to noises,...
This paper considers the auto-tuning of a feedforward controller in order to improve the performance of stage positioning. Particle swarm optimization (PSO) technique is employed for the auto-tuning of the controller. In the proposed method, firstly, the dimensionality of the particle in PSO is reduced. Then, the initial placement of each particle is determined by considering the nominal value of...
This article proposes a time efficient set-point tracking controller. The proposed controller synthesizes smooth control input within the input saturation limits of a class of second order nonlinear continuous time plants. The Lyapunov function based analysis assures the global asymptotic stability of the closed-loop and the convergence of the set-point tracking error to zero. The computer simulation...
In this paper, we present an algorithm for fully autonomous exploration and mapping of an unknown indoor robot environment. This algorithm is based on the active SLAM (simultaneous localization and mapping) approach. The mobile robot equipped with laser sensor builds a map of an environment, while keeping track of its current location. Autonomy is introduced to this system by automatically setting...
In this paper, an adaptive fuzzy tracking control is proposed for a power system in the presence of communication delay associated with the excitation signal. The proposed controller is designed using the universal approximation property of fuzzy logic systems. In the controller design process, an integral of the control effort over the delay interval is introduced in order to express the open-loop...
Modern, large wind turbines require multiobjective, robust controllers in order to fulfill all the control objectives. In the presented work linear matrix inequality (LMI) approach to H∞ control and linear parameter-varying (LPV) theory are utilized to design multivariable, adaptive controller which aims at improving rotational speed control and at reducing tower structural loads. Designed H∞ pitch...
ALFA (Absolute Luminosity For ATLAS) is one of the sub-detectors of ATLAS (A Toroidal LHC Apparatus). The ALFA system is composed by four stations installed in the LHC tunnel 240 m away from the ATLAS interaction point. Each station has a vacuum and ventilation system, movement control and all the required electronics for signal processing. The Detector Control System (DCS) provides control and monitoring...
In this paper, we propose a couple of configurations for development of an electro hydrostatic actuator (EHA). The study shows that both configurations result in the same dynamic model, and that the resulting dynamic model is equivalent to the dynamic model of flexible joint robots (FJR). Consequently, in controlling the EHA-based robots, we can apply a control strategy that is developed for flexible...
This paper addresses a depth estimation problem for a robotic system with a single camera. For this problem, several depth observers have been proposed so far. Most of them are based on the Persistency-of-Excitation (PE) condition. But, the PE condition is not always satisfied during a visual servoing task. The estimation of the depth observer stops if the PE condition fails. In our previous work...
This work aims to design an optimal dynamic controller to stabilize the walk of a biped robot even in the presence of input and output constraints. In a first time, the robot's trajectory is generated via the Zero Moment Point criterion based on the resolution of a convex optimization problem with Linear Matrix Inequalities. In a second time, the tracking of a reference trajectory is insured by the...
For the ultra-precision machining, semiconductor exposure machines employ the pneumatic active anti-vibration apparatuses (AVAs), which have air springs. In industrial scenes, when the vibration due to earthquake is observed, the AVA is automatically stopped by exhausting air. However, the difference of time delays in the response of the air springs causes the undesirable rotational motion of an isolated...
In this paper, we present a powered bionic knee exoskeleton aiming at physical assistance and rehabilitation. The mechanical structure of the knee exoskeleton is based on anthropomorphic design, the tibia rolling or sliding on the femur during joint movements. In addition, a proxy-based sliding mode controller is used to improve the safety of the wearable device. Preliminary experimental results on...
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