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This paper proposes an integrated control method including learning with an ellipsoid function and impedance controller for rehabilitation using power-assisted robotic devices. The proposed controller consists of two parts of a primary algorithm, which are ellipsoid regression method for re-designing trajectory and impedance controller with pseudo mass/inertia. The ellipsoid regression method generates...
We introduce an algorithm for the optimal control of stochastic nonlinear systems subject to temporal logic constraints on their behavior. We compute directly on the state space of the system, avoiding the expensive pre-computation of a discrete abstraction. An automaton that corresponds to the temporal logic specification guides the computation of a control policy that maximizes the probability that...
In this paper, a nonlinear control method called flatness-based control (FBC) is proposed to manage the delivered wind turbine (WT) energy to the grid. The studied system includes a three-bladed horizontal wind turbine and a permanent magnet synchronous generator (PMSG) which is connected to the grid through a back to back converter. The proposed control method is carried out by planning the appropriate...
Nowadays a great interest focuses on UAV and particularly on quadrotor platforms. Its mechanical simplicity and stability in flight has contributed to its commercial success. However the energy consumption remains a major technological limitation and its usual flight autonomy is only 15 to 20 minutes. More and more platforms deriving from that concept come out. For example terrestrial quadrotors have...
This paper introduces sliding mode control with ellipsoidal sliding surface which have the characteristic of finite convergence time to the equilibrium point from any initial condition. The proposed method is more robust than conventional method because it has no reaching phase. It converge to the equilibrium point faster than conventional method. The conventional linear sliding surface can not guarantee...
The paper presents a method for modeling of the ground pressure exerted by the wheels of a tri-wheel mobile robot followed by a control algorithm that includes changes in the pressure. The simulation output is compared with the measured values of the ground pressure, demonstrating a very good modelling accuracy. Based on the modelled ground pressure characteristics, we successfully modify the equations...
The short circuit problem is a difficult issue in LLC converter. This paper derives the state-plane trajectory of the full-bridge LLC converter based on state-plane analysis and the characteristics of the trajectory performance are provided under short circuit mode. Two types of control scheme for power switches, respectively based on phase-shift frequency-boost and frequency-drop method, are deduced...
This paper examines synchronous machines, whose excitation axis and reluctance axis can have an arbitrary angle. Basic equations for this machine type are set up and control strategies for maximum torque are derived. By using a normalized representation, it will be shown that machines with displacement angles of about 60° need up to 10% less permanent magnet material than conventional machines while...
The paper presents the average path estimation algorithm. This algorithm is based on the approximation curve, which shape should by defined as closely as possible to the shape of the analyzed path. With the use of this initial curve, the data space is divided into the intervals. All of the interval paths points are averaged individually. After the calculations, there is only one average point for...
Based on a decentralised control structure, two fast nonlinear model predictive control (FNMPC) algorithms — a gradient-based FNMPC and a Newton-Raphson-based FNMPC — are investigated and compared for the tracking control of the motor angular velocity of a hydrostatic drive train, which is commercially used in working machines. A flatness-based approach is employed for the tracking control of the...
In this paper, we proposed the adaptive RISE control algorithm for flexible-link manipulator. Via Singular Perturbation theory and the concept of integral manifolds, we divided the coupled nonlinear flexible-link manipulator dynamic system into two time-scaled decoupling subsystems. For slow-varying subsystem, we proposed the gain-varying RISE control algorithm to achieve trajectory tracking in spite...
This paper presents a new algorithm for the automatic adaptation of planar motion for an exoskeleton device. The designed control algorithm aims at adapting the motion of the hemiparetic patient “wearing” the exoskeleton to the desired gait based on the patient's active torque. The patient-exoskeleton coupling is modeled as a stand-alone planar nonlinear hybrid two-legged robot model with point feet...
In order to drive the electric machines using the motors efficiently, the energy loss should be minimized during its operation. The optimal torque and rotating speed trajectories to minimize the energy loss of the induction motor (IM) during its operation has been proposed when the operation time, rotating speed, and rotational angle are given as drive conditions. However, the optimal trajectories...
Increasing safety and efficiency of autonomous vessels also requires advanced navigation strategies. For the marine systems the task is even more complex than, e.g. for field robots, since hydrodynamic effects should be taken into account also. It is becoming even more challenging for underactuated vessels. Indeed, utilizing the virtual holonomic constraints approach we illustrate that regardless...
Underwater glider moves vertically by change in buoyancy and moves horizontally due to wings. In this paper, we validate the experimental lift and drag characteristics of a glider from the literature using Computational Fluid Dynamics (CFD) approach. This approach is then used for the assessment of the steady state characteristics of a glider under development. Flow behavior and lift and drag force...
Models of human mobility have broad application in fields such as mobile computing, network planning and resource preservation. In LTE network, the rapid increasing number of mobile broadband users requires the availability of enhanced data services and efficient mobility management. This paper focuses on service evolved Node B (eNodeB) prediction in LTE cellular network based on human mobility, and...
In this study an adaptive fuzzy terminal-based neuro-sliding mode control (AFTNSMC) was proposed for control of ankle joint using intraspinal microstimulation (ISMS). The controller is based on the combination of an adaptive terminal-based neural controller with sliding-mode control (SMC). The most advantage of terminal dynamics is the fast convergence compared to the conventional gradient descent...
In this paper, we assume that a single pedestrian is a single blob, and define the representative properties of blobs to selection between merge and split of blobs. And we collect attribute information of the blob and make decision tree by using the ID3 algorithm. Next, we experimented for dividing the decision tree by directing the status of merge and split, as a result, it is possible to generate...
DC-DC converter is a variable structure control system inherent due to the characteristics of the power switch. Sliding mode control technology is ideally suited for variable structure control system. In this paper, the sliding mode controller is designed based on the hysteresis modulation. The sliding surface parameters and the width of the hysteresis loop are given. Finally, a simulation of BUCK...
Robotic surgery is being used widely due to its various benefits that includes reduced patient trauma and increased dexterity and ergonomics for the operating surgeon. Making the whole or part of the surgical procedure autonomous increases patient safety and will enable the robotic surgery platform to be used in telesurgery. In this work, an Electrosurgery procedure that involves tissue compression...
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