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This paper addresses the global asymptotic tracking of one-degree-of-freedom (DOF) uncertain mechanical systems with unknown friction. A very simple variable structure-like nonlinear proportional-derivative (NP-D) controller is proposed. The closed-loop system formed by the controller and the mechanical system is shown to be global asymptotically stable. Advantages of the proposed controller include...
This paper focusses on direct dynamic visual servoing at high sampling rates for machines used for the production of products that inherently consist of equal features placed in a repetitive pattern. A mechanical system is controlled on the basis of vision only. In contrast to kinematic visual servoing approaches, we do not use a hierarchical control structure. More specifically, the motor inputs...
This paper deals with the resonance control of a test rig for vibrations in overhead transmission lines and corresponding nonlinear dampers (STOCKBRIDGE dampers). In the test rig, an electrodynamical shaker is used as an actuator and the input power is measured. Operating the rig requires the excitation of the mechanical system in resonance. A control law adjusting the frequency and amplitude of the...
This paper presents a motion planner for a vigilant humanoid robot. In this context of surveillance, the robot task is to keep a distinctive point in the environment in sight during all of its motion. The method we propose consists of three main ingredients: (1) A motion planner for an appropriate simplified model of the walking robot, adapted to the particular needs of humanoid robots, that outputs...
Friction exists in every mechanical system, and exerts bad influences on its operation performance, which will cause cylinder crawling phenomenon when it runs under low speed. In this paper, the analysis of the cylinder crawling phenomenon is proposed, as friction is complicated and impossible to measure its exact value, the estimation of friction by using extended Kalman filter (EKF) is introduced,...
This paper is concerned with the theory of quasivelocities and its applications to control. The equations of motion of a mechanical system are derived using the Lagrange-d'Alembert principle written in an arbitrary configuration-dependent frame. The structure of the equations of motion written in quasivelocities is utilized in the design of a nonlinear feedback stabilizing controller for an example...
This paper presents a control design method for motion control in the global coordinates of oscillatory-base manipulators, which are associated with mechanical systems equipped with such as radars and sonars installed on vessels or oceanic structures. The proposed design method exploits linear H?? control supported by linearization and PD control schemes. Motion control simulations demonstrate that...
In this paper we give a new sufficient condition for master-slave synchronization of piecewise affine (PWA) systems. Using a Lyapunov approach and the so-called S-procedure, we show that the synchronization problem can be solved as an optimization problem subject to a set of linear matrix inequalities (LMIs) for which the slave state-feedback controller is designed efficiently. A mechanical system...
We have been developed a novel spherical stepping motor (6-8 spherical stepping motor) which is based on a pair of a regular hexahedron and octahedron in order to make an application as a mechanical system such as a joint of a humanoid robot or an industrial robot. In this study, the rotational characteristics on the 6-8 spherical stepping motor were obtained by the 3D electromagnet and motion coupled...
Our traditional design is mainly based on producing experiences according to mechanical and mathematical formulas, diagrams, manuals and so on. Therefore, the finished product is functional but long design period and high cost are required. Nowadays, various modern design methods are more and more applied. The methods help to avoid aimless and random of the empirical design, to increase design scientificity,...
Despite its appealing concept, a systematic way of designing autonomous decentralized control system is still lacking. In order to alleviate this, we have so far proposed a design scheme for local sensory feedback control based on so-called discrepancy function that extracts the discrepancies between body (i.e., mechanical system), brain (i.e., control system) and environments. This paper intensively...
The paper develops a method for analyzing and improving by control obstacle clearance capacities of articulated multi-wheeled rovers. On uneven ground surface, load and traction force distributions through the wheel/ground contact system are highly coupled. They are both conditioned by the global equilibrium of the mechanical system and the contact stability constraints. The optimal traction force...
This paper presents tracking and set point controllers for parallel mechanism based on the notion of a projection operator. The controller reported here works whether the system is overactuated or not; plus one does not need to derive the minimal-order dynamics model of the system. Since the dimension of projection matrix is fixed, the projection-based controller does not need to change its structure...
The aim of this paper is to analyze theoretically and experimentally the stator current of a three phase induction machine and load torque signals in a hoisting winch system, in order to show how they are influenced by the wire rope faulty condition. When the wire rope is subjected to axial and torsional loads, the outer strands can separate from the core in permanent way and make the rope useless...
Selecting appropriate mechanism types that meet design requirements is a critical problem often encountered in conceptual design of mechanical system. A novel approach to mechanism coding is presented at first, in which the features of motion function and function quality for mechanism can be expressed respectively with a list of binary vectors. A retrieval approach to mechanism type selection is...
Microturbine generator (MTG) is a complicated thermodynamical and mechanical system that cannot be modeled accurately. There were several advanced method in speed control of MTG, but until now, systematic and effective control method has been still a lack of in the research field of MTG. Anti-interference problem has been not solved due to existing of high frequency converter. Therefore, a novel fuzzy...
The sensitivity analysis method of optimal design for dynamic system offers an excellent design means from experiential design to theoretical design for engineers. The formulae of sensitivity analysis for optimal dynamic structure design under constraints of dynamic specific property i.e. design variables such as displacement, stress, and frequency are derived in a mechanical system. And a gradient...
Trajectory optimization is a technique for finding dynamically feasible trajectories of a mechanical system that approximates a desired trajectory. These tools provide an excellent abstraction from a system's dynamics, allowing a user to animate a robot without considering dynamic complexities, including coupling, instability, and uncontrollable subspaces. The animator focuses on the more relevant...
This paper analyses the principle of synchronous belt fatigue life testing system, designs and realizes the control system with advanced controlling and detecting technology. We developed the mechanical system, Control System and windows-based software system for the Synchronous Belt Fatigue Life Testing System which working in Liaoyang mechanical belt factory very well.
In this study, in order to make an application as a mechanical system such as a joint of a humanoid robot or an industrial robot, a novel spherical stepping motor based on a pair of a regular hexahedron and regular octahedron is developed. This paper shows the structure and the driving principle of the proposed spherical stepping motor, firstly. We then present the characteristics of the proposed...
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