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This paper dedicated to investigate the integration of semi-active suspension and vehicle dynamics control system. Semi-active suspension (typically composed of a controlled damper and a passive spring) could improve the ride performance of vehicle by controlling the damper and spring. A vehicle dynamics control (VDC) system can enhance vehicle stability and handling in emergency situations through...
This paper investigates a novel mechanism, called DSAC for Dynamic, Single Actuated Climber, which propels itself upwards by oscillating its leg in a symmetric fashion using a single actuator. This mechanism achieves dynamic, vertical motion while retaining simplicity in design and control. We explore the local orbital stability of the DSAC mechanism. We use the Poincaré map method with a well chosen...
Autonomous two-dimensional manipulation of microparticles to form patterns under an optical microscope by pushing and pulling them with a sharp nanoprobe is presented. Camera calibration is done by an iterative sliding-mode parameter observer designed to satisfy the Lyapunov stability criterion. Estimated parameters are also used to increase the bandwidth on position control. Individual particles...
A new stabilizing nonlinear controller for the vertical motion of an electrically actuated hopping robot is introduced and analyzed. The approach starts by finding reference limit cycles from the "passive dynamics" of a mass-spring system. The controller then modulates the system dynamics via the leg actuator during the stance phase to force the system trajectory to converge to this reference...
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