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This paper addresses a novel slip-ratio-based torque distribution strategy for electric vehicles (EVs) to avoid slippage when driving over a split friction surface. With the combination to an upper and middle controller, the desired driving force and yaw moment can be distributed to four driving wheels by utilizing the proposed lower controller. Stability analysis by using Lyapunov theorem is presented...
The paper presents a synthesis of some author's activity. A speed control system for dc drives, based upon a PI fuzzy controller with integration at the output, with a simple rule base with only 9 rules is developed, analyzed and simulated. The sum-prod inference method is used with the center of gravity defuzzification. The performance criteria of the fuzzy control system are compared with the performance...
The control of a snake-like robot is a challenging problem because of the complex dynamics and the unknown environment. We have proposed an energy-based method, called passive creeping, to control the serpentine locomotion. This paper lays emphasis on the stability and the adaptability of the method. First, the local orbital stability of the movement is explicated based on the maximal Lyapunov exponent...
This paper proposes a solution to tune an observer keeping robust closed loop performances for the sensorless motion control of an uncertain mechanical load directly driven by a PMSM through a flexible axis. An evolutionary algorithm optimizes the observers degrees of freedom. Experiments show that performances are effectively maintained.
This paper focuses on the ship roll balance control based on the ship roll dynamic model and special actuator. According to the ship dynamics model for roll stability and an actuator with the transferring liquid among Water cabins for ship, a control model for ship roll balance adjustment is built and also the control system is designed. And then, the ship balance performance and dynamic balance process...
An omni-directional rolling spherical robot equipped with a high-rate flywheel (BYQ-V) is presented, the gyroscopic effects of high-rate flywheel can further enhance the dynamic stability of the spherical robot. This robot is designed for territory or lunar exploration in the future. The mechanical structure and control system of the robot are given particularly. Using the constrained Lagrangian method,...
This paper proposes a new trajectory tracking control method for multi-joint robots by combining stiffness adaptation and iterative learning control. The proposed controller achieves trajectory tracking while optimizing stiffness of elastic elements installed in each joint of the robots. Even though the multi-joint robots have nonlinear dynamics and multi degree-of-freedom, the stiffness optimization...
Cogging effect is a serious disadvantage of the permanent magnetic synchronous motor (PMSM), and cogging force is a position-dependent periodic disturbance. In our previous work [1], a dual high-order periodic adaptive learning compensation (DHO-PALC) method for state-dependent periodic disturbance was presented, where the long term stability issue was not addressed. Due to the impact of the high...
This paper proposes an energy saving control method of periodic motions composed of multi-frequency components based on adaptive stiffness optimization for mechanical systems. In the case of sinusoidal motions, the concept of resonance can be easily applied to determine an optimal stiffness. This paper tries to extend resonance to deal with periodic motions composed of multi-frequency components....
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