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With characteristics of high efficiency, low energy consumption and zero emission, pure electric vehicle is an effective solution for the recent energy crisis and environmental issues. This paper develops a pure electric vehicle control strategy that will be used on ENRANGER G3 — a compact SUV model by Wei Chai Motor. A hardware in the loop (HIL) test platform was constructed accordingly. The platform...
The paper presents an approach to design a robust PI controller for an active suspension system with uncertain parameters. To take care of parametric uncertainty in the system, the transfer function of controlled system is modified in the interval plants by using the kharitonov's theorem of stability. The stability region of the system is found by plotting the (kp, ki) - plane which is plotted using...
This paper reports on a novel nonlinear controller for a single one-degree-of-freedom (1-DOF) Active Magnetic Bearing (AMB) system. The nonlinear feedback tools such as Lyapunov based techniques, control Lyapunov functions (CLFs), and feedback passivation control are developed. The control objective is to globally stabilize the mass position of an AMB with flux feedback. The flux-based control model...
As the research object of this paper, the self-balancing unicycle robot system has some typical characteristics such as multivariable, high order and nonlinearity. In view of the self-balancing unicycle robot system's characteristics, the author built a mathematical model of the system and designed a LQR controller for the self-balancing unicycle robot. Moreover, simulation and experiment are presented...
Neurologic examination takes an important role in the physical examination. It requires abundant knowledge with prominent skills. Normally, the medical staffs, especially novices are trained to master the skills and accumulate experiences with several methods such as watching video, training with the simulated patient (SP), and so on. However, the drawbacks of the above methods, such as lack of multi-symptoms,...
In this paper, an adaptive nonlinear controller is presented for position tracking control problem of a pump-controlled Electro Hydraulic System (EHS). The system nonlinearities are compensated by an advanced backstepping-based technique while all uncertainties including uncertain parameters and external disturbances are estimated directly from the state control errors. For supplying necessary information...
Hydraulic power conversion system is widely used as a power take-off system in wave energy converters to realize the aim that transforms wave energy into hydraulic energy. The efficiency of transformation is an interesting research topic which attracts many researchers' attention. In this paper, a control strategy through combining hydraulic cylinders is proposed for improving the efficiency of transformation...
This paper presents the balancing control application to a hand-carried one-wheel cart that is used for carrying objects by a human operator. Balancing and driving control of the cart is mainly controlled by human power. To help the human power for balancing in the lateral direction, gyro-effect is employed to generate the balancing torque in the lateral direction to maintain the balance. A one-wheel...
The uncertainty and disturbance estimation (UDE) structure provides flexible and intuitive controller design for command following and disturbance rejection in uncertain linear and nonlinear systems. In this paper, an intrinsic UDE controller is demonstrated for fully-actuated mechanical systems on SO(3), the group of rigid-body rotations in three-dimensional Euclidean space. The controller is derived...
With the technological development of robotics, a bilateral control based on acquiring and rendering tactile sensation, which is one of the human five senses, enables human to manipulate by using wireless network. In order to realize the applications of haptic transmission as well as audio and visual information, the research field of haptic data compression will be considered. However, information...
This paper presents a self-learning strategy for an artificial cognitive control based on a reinforcement learning strategy, in particular, an on-line version of a Q-learning algorithm. One architecture for artificial cognitive control was initially reported in [1], but without an effective self-learning strategy in order to deal with nonlinear and time variant behavior. The anticipation mode (i.e...
Robotic manipulators that use joystick interfaces for telemanipulation take time and effort to master and lack an intuitive basis for human robot interaction. These factors can hamper operator performance, increase cognitive workload, and limit overall user effectiveness on highly dexterous tasks. Master-slave interfaces (MSIs) used in the fields of animatronics, telesurgery, and hazardous materials...
Inverted pendulum is a highly non-linear system, which makes it a complex control problem that may be articulated for various real-life applications. Usually, its linearized model is implemented and controlled using a typical Proportional-Integral-Derivate (PID) controller but a different controller is required to control the actual, non-linear model. In the current work, we aim to develop an indigenous...
A new modeling technique leading to simple and reliable dynamic model of friction is proposed. The model may be applied for friction compensation in the electric drive control algorithms. The model is based on the fuzzy approximation of the coefficient influencing the internal state variable dynamics. The data for fuzzy modelling are collected during steady-state operation of the drive and the remaining...
This paper proposes an adaptive motion control system for a linear motor single-axis robot, which is mainly composed of a linear induction motor (LIM). On the basis of indirect field-oriented control mechanism, the dynamics of linear motor robot is investigated for considering the time-varying uncertainties that exist in the LIM drive. Next, a backstepping controller is designed for the objective...
Buoyancy systems are used in submarines and various submersible equipment such as ARGO floats but are rarely incorporated in Remotely Operated Vehicles (ROVs). This paper presents a system for automated lifting and buoyancy control for a remotely operated sea crawler. This system, consisting of hydraulic, electric and control subsystems, allows the operator to navigate the vehicle to any desired depth...
When modules are installed on the seafloor they often need to interface with existing equipment. The modules will therefore need to be positioned and oriented precise. Today this is done by using guide-wires, or by using a manually controlled ROV. Both these methods are costly and time consuming. This paper propose a system for automating the ROV. We believe that such system will make installations...
This paper presents a solution to the sampled-data H2 control problem where the sampling function, the discrete-time controller and the hold function are all available for design. In contrast to previous works, the generalized sampling and hold functions are constrained to have piece-wise impulse and piecewise constant waveforms, respectively. The resulting sampling and hold devices improve the control...
A method of a control system synthesis for the separate UR thruster is developed. A special non-linear correcting device and adaptive adjustment on reference model are applied for non-linearity compensating and required quality of control processes saving at change of thruster parameters in a given range. A new approach to forming a self-adjustment signal ensuring activity in a linear zone of the...
Using helicopters to deliver supplies to forward ground units in high-threat environments can lead to increase in troop mobility and enlarge the area of operation. However, flying a limited aircraft performance due to slung load in a high-threat area could increase the pilots' workload significantly. The goal of the work was to develop an outer-loop control law to help pilot in controlling helicopter...
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