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In this paper, we consider the event triggered control of the singularly perturbed linear system, where the communication between sensor and the controller/actuator is through a digital communication network and the transmission is based on some state dependent criterion. The models of slow and fast subsystems of the plant are added at the controller and are used for the estimation of states between...
This paper presents experimental results about loop closure detection in mobile robots through spectral description of images set and data dimensionality reduction. Both, spectral description and representation in low dimension depend heavily on the concept of dominant eigenvector. Integration between Matlab and ROS interface was exploited to perform our experiments. Besides, two environments were...
This paper is concerned with the problem of designing a robust adaptive control strategy for flexible joint robots (FJR). Under the assumption of weak joint elasticity, FJR is firstly modeled and converted into singular perturbation form. The control law consists of a FAT-based adaptive control strategy and a simple correction term are then used to stability of the slow dynamics, and damp out the...
This paper proposes a novel type of fast convergence robust controller for a non-laminated magnetic bearing system whose dynamics is governed by a non-commensurate fractional order model. The key feature of this approach is the use of Fractional Order PID sliding manifolds and the appropriate sliding mode control law developed to assure the robustness. The stability of the closed loop system is ensured...
An interactive graphical method of design is proposed in order to design a system which is robust and ultrafast. The aim will be to design a compensator with specific sensitivity bound ε on a given bandwidth while not exceeding a global sensitivity value M at all frequencies. The Geogebra program allows to adjust the compensator so that the open loop Nyquist plot is tangential to the M sensitivity...
In this paper, we investigate the local stability of a flat-foot limit cycle walking model with compliant ankle joints, and analyze the effects of ankle stiffness and foot inertial and geometric parameters on disturbance rejection. These results can provide a further understanding of local behaviors of different phases in one step and guidelines for stiffness control and flat foot design towards stable...
Multistage production processes are becoming more important in the industry to ensure levels of flexibility, efficiency and modularity. Thus, the way in which companies define optimal production parameters related to production costs and quality must be adapted to this reality. In this paper we introduce a multi-response optimization (MRO) model for a two stage production process. The model gives...
Though the classical robotics is highly proficient in accomplishing a lot of complex tasks, still it is far from exhibiting the human-like natural intelligence in terms of flexibility and reliability to work in dynamic scenarios. In order to render these qualities in the robots, reinforcement learning could prove to be quite effective. By employing learning based training provided by reinforcement...
The state predictive control is one of the most effective methods to compensate the input delay of linear systems. In the continuous/discrete-time scenario, the corresponding closed-loop poles except for the eigenvalues of A + BF are arranged at −∞/the origin automatically. In the discrete-time setting, a modified state predictive control method has been proposed in which all closed-loop poles including...
This paper addresses the time delay problem in Networked Control Systems (NCSs) occuring due to the presence of communication medium. To compensate the time delay multirate output feedback based sliding mode controller is designed in which the control input is computed based on the system outputs and past control signals by taking full advantage of network transmission. A Thiran Approximation technique...
A typical direct neural-adaptive control of an n-link rigid manipulator uses n neural network outputs in tandem with n proportional-derivative controls. However, previous approaches to rigid-link, flexible-joint robot control using 3 steps of backstepping have required knowledge of the spring constants, extra adaptive parameters, extra neural network outputs (beyond 3n), and/or robust control terms...
This paper presents a motion planning algorithm for generating optimal collision-free paths for robotic vehicle with two trailers moving autonomously. The proposed algorithm is based on combination between artificial potential field method (APF) and optimal control theory. The optimal control theory is applied to generate an optimal collision-free path for robotic vehicle from a starting point to...
This paper introduces a novel control system of bipedal robots on uneven terrain. Since this method does not require to measure Zero Moment Point (ZMP), the tracking performance of the controller is not deteriorated by the noise on a measured ZMP. Moreover, the robot withstands frequent perturbations because of its two-degree-of-freedom structure. The robot is stabilized by Center of Mass (COM) regulation...
Most of the modern industries have multivariable processes wherein interactions exist. As the process outputs and inputs are coupled, designing controller for MIMO processes is a challenging task. The effective open-loop transfer functions (EOTFs) between the paired process input-output variables have complex high order dynamics. While many of the decoupling control methods uses effective transfer...
The aim of this paper is to develop a robust control algorithm for a five-link biped robot with one degree of underactuation to climb stairs in a natural manner. The biped consists of a five-link planar robot with two actuators at the hip and another two at the knee joints. A robust sliding mode controller is proposed to track gait trajectories while climbing stairs. The control signals are computed...
This paper presents two practical simulators of a traveling mobile robot that is equipped with optical mice and the optimal setting of their controllable parameters. It is assumed that three optical mice are installed at the bottom of a mobile robot, from which the traveling velocity of a mobile robot can be estimated. First, taking structural simplicity and user convenience into account, two practical...
In this paper, the solutions of fuzzy differential equations (FDEs) are estimated by using two types of Bernstein neural networks. Here, the uncertainties are in the form of Z numbers. Firstly, we transform the FDE to four ordinary differential equations (ODEs) at par with Hukuhara differentiability. After that we develop neural models having the structure of ODEs. By using modified backpropagation...
This manuscript presents a universal control law for a class of complex dynamic systems, such as mobile robots. The trajectory tracking problem is among the major problems in the field of robotics. The proposed universal control law solves the trajectory tracking problem of mobile robots. Despite a large body of research on developing robot's control laws conducted in the literature, the dynamic effects...
The visual servoing based pickup of stationary objects (or regulation, etc.) has attracted many academic researchers and industrial engineers over the past two decades, and numerous control strategies are proposed for this challenging problem. The controller proposed in this paper follows the Position Based Visual Servoing (PBVS) paradigm. Most of the PBVS controllers, if not all, are designed assuming...
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