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In this paper, a redundantly actuated chewing robot with two higher kinematic pairs (HKPs) is presented, which can be used in performance test and evaluation of denture material. The robot has six actuators, but only has four degrees of freedom, due to constraints of two HKPs which mimic two temporomandibular joints (TMJs) of human. Quasi-static force analysis in occlusion status is performed to calculate...
This paper studies the adaptive position and velocity tracking control for high speed train with asymmetric nonlinear input saturation. Adaptive tracking control for high speed train encounters great challenges when the train dynamics containing nonlinearities, asymmetric input saturation and unknown external disturbances. An adaptive tracking control method is developed by means of sliding mode technique...
This paper presents the development and control of a novel active needle for percutaneous intervention. Using vision feedback of the actual tip of the needle, inverse kinematics based closed loop control in tracking a 3D curved path is performed. Shape Memory Alloy (SMA) wires are deployed as actuators for the developed active needle system. In-air experiments are performed to evaluate and validate...
This note deal with H∞ adaptive event-triggered control on a class of networked control systems with randomly occurring nonlinearities. By employing an adaptive controller, the system is against randomly occurring nonlinearities effectively. Based on a Lyapunov functional, the stability criteria are given. Finally, a numerical example is given to illustrate the effectiveness of the obtained results.
As the quadcopters industry grows exponentially each year. A reliable controller is needed to stabilize the quadcopter attitude and to follow a desired trajectory while considering the surrounding environment. The main challenge in controlling a quadcopter is the fact that it is a nonlinear system. Moreover, it's prone to disturbances. Thus, A mathematical model of the quadcopter was derived. Next,...
In this paper, we introduce a cognitive model inspired in a rough description of the human cognition process to provide a more efficient parallel architecture for autonomous reactions in real systems. The model is a non-hierarchical structure composed of three main parallel blocks-mind, reason, action-in a nested double closed-loop configuration for control and supervision; the mind is a practical...
The paper is concerned with asynchronous control for fuzzy switched systems with actuator saturations. Based on controller-mode-dependent piecewise Lyapunov function, the asynchronous controllers are designed to ensure the exponential stability. The asynchronous controllers mean that the switching of the controllers has a lag with that of subsystem. Moreover, the corresponding switching laws with...
This paper describes the prediction and prevention of losing steps in helical teethed linear actuator (HTLA) for artificial muscle. When the rapid external force is applied to the HTLA, it becomes a state of losing steps. Therefore, it is important to predict and prevent this phenomenon. First, we clarified the phenomenon of losing steps in the HTLA by using numerical simulation with 3-D FEM. Next,...
In this paper a path tracking control for an autonomous vehicle is developed using the H∞ technique. The lateral control problem is reformulated as the control of two variables: the lateral error and the derivative of the look-ahead error, defined as the distance between a virtual point on the vehicle longitudinal axis in front of the CoG and the reference trajectory. This approach is based on the...
Force regulation is an important topic in pick-and-place applications. To this end, a novel control concept for a setup consisting of two serially and co-linearly mounted axes is proposed. The position trajectory of the larger axis is tracked by a standard PD-controller. The feedback-law for the second and smaller axis mounted on the slide of the larger one is designed as an impedance control. A particular...
In this study, the trajectory tracking control problem of a 2 degrees of freedom robotic orthosis for the lower limb rehabilitation is discussed. The robotic orthosis is actuated by a pair of self-made pneumatic artificial muscles (PAMs) in an antagonistic configuration. A second order plus dead time (SOPDT) linear model is chosen for describing the antagonistic actuator behavior. In order to enhance...
The spatial filter is capable of splitting the original desired trajectory of the dual-stage actuator (DSA) into two segments with arbitrary range, controlled by a linear motor (LM) actuator and a piezoelectric actuator (PZT) microactuator, respectively. Backstepping nonsingular terminal sliding mode control law with error transformation is designed to allow the tracking error of the actuator to converge...
In order to solve the problem of precise trajectory tracking control for a quadrotor in the presence of external disturbance and system model parameter uncertainty, a nonlinear trajectory tracking controller based on sliding mode for the quadrotor is designed. In this paper, the mathematical model of the QBall2 quadrotor considering the characteristics of the actuator is established and the virtual...
The main challenges of designing devices for paraplegic walking can be summarized into three groups, stability and comfort, high efficiency or low energy consumption, dimensions and weight. A new economical device for people with paraplegia which tackles all problems of the three groups is introduced in this paper. The main idea of this device is based on HALO mechanism. HALO is compact passive medial...
Lower limb exoskeletons are being used to assist people with movement disorders during activities of daily living or rehabilitation. However, providing a natural interface that automatically adapts to the patient's movement limitations remains an open challenge. In this paper, we present a control implementation that combines a compliant actuator technology with the concept of tacit learning to improve...
This paper presents an automatic Fourier synthesis-based input-shaping algorithm for repetitive force-curve trajectories, applied to a piezo-electric actuator. A periodic scan-signal is generated by Fourier synthesis, consisting of the fundamental frequency and its even and odd harmonics. In order to compensate for the system dynamics of the used piezo-electric actuator, amplitude and phase response...
For an accurate and precise periodic scanning motion of a galvanometer scanner, this paper presents iterative learning control (ILC) that is designed and implemented in the frequency domain to compensate for system nonlinearities, such as static friction. For a case that system identification in advance is difficult due to the nonlinearities, the frequency-domain ILC itself incorporates and performs...
Velocity field control (VFC) is an alternative approach for motion control of robotic systems. It has advantages over the trajectory tacking problem when the timing in the desired task is of less importance in the application of interest. Recently, this control strategy has been emerged as a promising control method in robot-aided rehabilitation. Therefore, this paper addresses the problem of VFC...
The problem of the design of a controller for a multi-vectored propeller airship is addressed. The controller includes anti-windup that takes into account unsymmetrical actuator constraints. Two controller design methods were applied: one-step and two-step anti-windup controller design (AWC). The one-step method obtains the controller and the anti-windup compensator in one step while the two-step...
This paper focuses on trajectory redesign for dualstage nanopositioning systems where speed, range, and resolution are considered. This approach differs from many existing approaches that consider only speed. Dual-stage nanopositioning systems are becoming increasingly popular due to their unique ability to achieve long-range and high-speed operation. However, typical control strategies rely on temporal...
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