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This article describes design and simulation implementation of a nonlinear controller for an underactuated surface vehicle. The controller is designed using a command filtered backstepping (CFBS) approach. Theoretical background for controller design is given in the first part of this article. This nonlinear controller can be used for accurate tracking of a complex trajectory, for example a circular...
A new locomotion-steering mechanism of an active capsule endoscopic robotic system is designed in this paper. The locomotion and steering principles are analyzed to allow the robot to move straightly and turn around in the intestinal environment. A micro-motor is used to actively actuate the endoscope robot for straight movements and steering. Spiral outer structure is basically employed to help produce...
The controller design is one of the major difficulties in realizing robot-aided rehabilitation program. The purpose of our study is to develop an adaptive impedance force control strategy based on dynamic recurrent fuzzy neural network to maintain the stability of the rehabilitation robot system in the case when the patient's physical condition makes a change. An on-line identification method was...
In this study, the sliding mode approach is applied to the tracking control problem of a planar arm manipulator system driven by a new type of actuator, which comprises a pneumatic muscle (PM) and a torsion spring. Unlike the traditional agonist/antagonist pneumatic muscle actuator, the PM is arranged in place of bicep and the torsion spring provides opposing torque in the presented actuator. The...
The object of this paper is to design a LMI-based fuzzy controller for a MIMO two-link robot arm using quantum evolutionary algorithms. The Takagi-Sugeno (T-S) fuzzy approach is utilized to represent the equation of motion of two-link robot arm. The stability of the fuzzy system is guaranteed by linear matrix inequality (LMI) from Lyapunov stability approach. The quantum evolutionary algorithms (QEA)...
This paper presents a fuzzy controller implementation in FPGA (Field Programmable Gate Array) for a robot that rides a bicycle using the well-known Acrobot model. The overall system presents a hardware/software codesign approach and it was achieved by means of a Microblaze FPGA embedded processor and a fuzzy controller, which was implemented directly in hardware. Both the microprocessor and the controller...
In this paper, we propose algorithms for the on-line computation of control programs for dynamical systems that provably satisfy a class of temporal logic specifications. Such specifications have recently been proposed in the literature as a powerful tool to synthesize provably correct control programs, for example for embedded systems and robotic applications. The proposed algorithms, generalizing...
The Robot, named as TRAIN WALL BOT, is designed to navigate on smooth vertical surfaces with the capability to avoid obstacles and overcome if the height is about 1 cm. The design is inspired from train steel wheel movement that contains two actuated legs with rotary motion provided by a DC motor. The Robot uses pneumatic system and the suction force is supplied by an air compressor that turns on...
The energy-based control approach aiming to control the total mechanical energy and actuated variables of underactuated mechanical systems has generated renewed interests in studying these systems. Successful applications of the approach to the swing-up control for the Acrobot (2-link planar robot with passive first joint), the Pendubot (2-link planar robot with passive second joint), and an n-link...
The paper addresses the controller design problem for a class of teleoperation systems. The forward and the backward transmission time delays are time-varying and asymmetric. The velocities of the master and slave joints are not available and the precise mathematical robot models are also not known. For dealing with the control problem, we first design a high gain observer to estimate the velocities...
The number of persons age 65 and older will increase dramatically in the next 2 decades and by 2030 this group will comprise 20% of the U.S. population. Since the incidence of disability increases with age, there will be an increased need for robotic assistive devices. The design process for robotic assistive devices differs significantly from the design of autonomous robots. This paper reviews the...
In this paper, the objective is to analyze a robot system with consideration the different levels of wire rope tension for human-robot applications. In the controller design, dual disturbance observers with respect to two operation modes, namely the common mode and the differential mode are designed and applied for controlling wire rope tension and interaction force of human. The variable wire rope...
Cobots are passive robots that share their work space with a human. They are safe for whom manipulates them and facilitate the task execution which increase productivity. Also they take advantage of the human vision, intelligence and dexterity because their goal is to guide the operator who moves the robot. They can execute transport or precision tasks at low cost, reducing the operator training time...
This paper puts forward a novel design solution for building a 3D hyper-redundant chain robot (HRCR) system, which consists of linked, identical modules and one base module. All the joints of this HRCR are passive and state controllable, and share common inputs introduced by wire-driven control, no matter how many degrees of freedom (DOF) are implemented using different numbers of modules. The prototype...
This paper presents a rehabilitation robot used for the patient with paralysis of lower limb and the kinematics of the mechanism is analyzed. The mechanical design of the robot is described. The forward and inverse kinematics solution of the robot is given. The working space of the foot apex is calculated under the training range. The trajectory planning is studied. It provides important data reference...
This paper presents a novel technique to tune the parameters of a fuzzy logic controller using a combination of reinforcement learning and genetic algorithms. The proposed technique is called a Q(λ)-learning based genetic fuzzy logic controller (QLBGFLC). The proposed technique is applied to a pursuit-evasion game in which the pursuer does not know its control strategy. We assume that we do not even...
This paper presents a control framework for humanoid robots that uses all joints simultaneously to track motion capture data and maintain balance. The controller comprises two main components: a balance controller and a tracking controller. The balance controller uses a regulator designed for a simplified humanoid model to obtain the desired input to keep balance based on the current state of the...
In this paper, we propose an adaptive fuzzy output feedback control method for trajectory tracking control problem for robotic systems. Using Lyapunov method, we first develop a stable adaptive fuzzy state feedback control algorithm by assuming that the systems output and its derivatives are available for feedback control design. The algorithm combines fuzzy systems with robust adaptive controller...
This paper introduces the design and implement of a novel control systems for power substation equipment inspection robot. According to the real condition of the power substation equipment inspection, the overall structure of the robot control systems are described, and a new monocular robot's navigation method based on colorful image processing was proposed. By the use of image partition of the HSI...
In this paper, a multi-model based hybrid sliding mode control (HSMC) system is proposed for trajectory tracking control problem of robotic systems. The idea of introducing multi-model/controller based HSMC design is to reduce the level of parametric uncertainty in order to reduce the controller gains that reduces the control effort. The key idea is to allow the parameter estimate of classical sliding...
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