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The paper presents a vehicle lateral-plane motion stability control approach for four-wheel independently actuated (FWIA) electric ground vehicles considering the tire force saturations. Due to the possible modeling inaccuracies and parametric uncertainties, a linear parameter-varying (LPV) based robust H∞ controller is designed to yield the desired external yaw moment. The tire force constraints...
Sliding mode based roll-pitch-yaw integrated attitude and acceleration controller for a fin-controlled skid-to-turn(STT) missile is proposed. In terms of aerodynamics, the missile model has severe nonlinearities and coupling effect between input channels and roll-pitch-yaw angles that make the controller design challenging. Moreover, the controller should be designed for the entire flight envelope...
Robustness validation results aimed at achieving lower ppm-failure rates by ensuring adequate guard band between the “real life” operation range of devices and the points at which device fails are presented. One of the main attentions was paid to package reliability (especially to bonding system reliability as major limitation factor) with combination of used different Bill of Material (BOM), different...
Natural markers are increasingly being adopted by the Augmented Reality (AR) community. These systems require several steps of data processing to be carried out with the aim of allowing a less parameterized image be recognized by the computer system. Among the possibilities for this task there are the proposals that employ interest points (or feature points). The steps needed to process the natural...
In the cold rolling production process in iron and steel industry, the operation optimization problem (OOP) is to determine the optimal setting for the control variables so as to maximize the product quality or minimize the total operation cost. Traditional OOP generally assumes that the production process is stable, however, the practical production process is dynamic and the dimensions of input...
Just as their discrete counterparts, periodic or rhythmic dynamic motion primitives allow easily modulated and robust motion generation, but for periodic tasks. In this paper we present an approach for modulating periodic dynamic movement primitives based on force feedback, allowing for rich motor behavior and skills. We propose and evaluate the combination of feedback and learned feed-forward terms...
This work addresses the design and experimental evaluation of a robust controller for a quadrotor landing maneuver comprising the approach to a landing slope and sliding on that slope, before coming to a complete halt. During the critical landing flight phase the dynamics of the vehicle change with the type of contact with the ground and a hybrid automaton, whose states reflect the several dynamic...
Object-level impedance control is of great importance for object-centric tasks, such as robust grasping and dexterous manipulation. Despite the recent progress on this topic, how to specify the desired object impedance for a given task remains an open issue. In this paper, we decompose the object's impedance into two complementary components-the impedance for stable grasping and impedance for object...
The maximum coverage problem is a staple of facility location theory, and has more recently been extended to the covering facility interdiction problem, in which covering facilities are chosen for interdiction so as to minimize the resultant coverage. This paper considers the opposite to the interdiction problem, selecting facilities to maximize coverage after the worst-case interdiction. Solutions...
This paper proposes a new adaptive design method for the robust force control systems based on disturbance observer (DOB). A DOB is a robust control tool that is widely used in motion control applications. It can also be used to estimate environmental impedance by identifying system uncertainties and is called as reaction torque/force observer (RTOB/RFOB). A RTOB/RFOB has several superiorities over...
This paper represents the latest instantiation of a series of evolving work attempting to improve the methods and techniques used for designing and supporting the acquisition of complex military systems, with an immediate application to naval surface combatants. Ship design provides an ideal proof-of-concept as traditional methods may have been restrictively anchored by designing ships within intrinsic...
Stabilization control of a 2-mass system is proposed as one of stabilization methods of multi-DOF systems. The strong point of the proposed method is easy to understand physically, and is based on energy control of the controlled system. Specifically the internal energy of the controlled system is controlled to be zero. Energy control theory is also proposed for a general and physically intuitive...
This paper presents a technique for a robust tracking of the target object by integration of the vision-based disturbance observer with bilateral haptic system. As for the motion navigation task, the bilateral control of master-slave system is combined with the vision-based force compliance controller. The disturbance of the modelling error that occurs in the integration of the system will be compensated...
This paper achieves robust stabilization of self erecting cart pendulum system with continuous-time periodic controller. More precisely, the present work deals with the problem of global stabilization of a cart-pendulum system. First, an energy shaping algorithm is developed to bring up the pendulum to the close vicinity of its upright equilibrium point. The energy control technique employed here...
This paper presents a robust structure to optimize transparency in bilateral teleoperation systems. The system is assumed to be linear, with constant but uncertain time delay in communication channel. Benefiting from small gain theorem and by using optimal H2/H∞ solution of the formulated problem, stability of the delayed system is guaranteed, while the transparency of the bilateral teleoperation...
Time-delay in communication channels and uncertainty in different parts of the teleoperation systems are considered to be a major group of destructive factors in stability and performance of these systems. This paper suggests a new method based on a Linear Matrix Inequality (LMI) approach to establish robust PID controllers. The stability and performance of the system must be ensured by these controllers...
As human beings, we coordinate movements and interact with our environment through sensory information and motor adaptation in our daily lives. Many characteristics of these interactions can be studied using optimization-based models, which assume that the precise knowledge of both the sensorimotor system and its interacting environment is available for the central nervous system (CNS). However, when...
Analyzing the recovery process of UAV via parachute, three key issues are concluded and studied: modeling of UAV-Parachute system, estimation of wind field and the control strategy for recovery, in which the first and the last are researched mainly. Spring of the rope is introduced to the UAV-Parachute model to reflect the attitudes of UAV and tensile forces of ropes in the process, Kalman filter...
In this paper, a method for passivity- and robust integral of the sign of the error (RISE)-based control of a nonlinear teleoperation system with communication delays is proposed. This control strategy can accurately achieve coordinate positioning under conditions with viscous friction and unmodeled effects compensation errors, and its stability condition is independent of robot model parameter uncertainties...
This paper considers sliding mode controller (SMC) for heaving wave energy converter (WEC). The proposed SMC is implemented to maximize the absorbed energy of the heaving WEC. The problem of chattering control force is solved via the approximation method using the saturation function. The proposed method is tested using polychromatic sea state to simulate the real sea environment. A large difference...
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