In this paper, a new active suspension control scheme is proposed in which the tire deflections are not required. The controller has good property that we can specify a location where the ride comfort becomes best. To...
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ISBN:
(纸本)9781424448081
In this paper, a new active suspension control scheme is proposed in which the tire deflections are not required. The controller has good property that we can specify a location where the ride comfort becomes best. To achieve this end, a combined ideal vehicle is designed. In the ideal vehicle, the location where ride comfort becomes best can be moved by setting only one design parameter. Next, to force the real vehicle track the motion of the combined ideal vehicle, a robust tracking controller is proposed.
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this typ...
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ISBN:
(纸本)9781424407897
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy are optimized to effectively perform activities of daily living (ADLs) and overcome singularities, joint limits and some workspace limitations. The control system is designed for teleoperated or autonomous coordinated Cartesian control, and it offers expandability for future research, such as voice or sip and puff control operations and sensor assist functions.
We present a new control scheme for a snake-like robot. This scheme is very close to the scheme which real snakes use to control their movement. After presenting some observations gained from real snakes we describe o...
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Since a biped humanoid inherently suffers from instability and always risks itself to tipping over, ensuring high stability and reliability of walk is one of the most important goals. This paper proposes a walk contro...
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ISBN:
(纸本)0780372034
Since a biped humanoid inherently suffers from instability and always risks itself to tipping over, ensuring high stability and reliability of walk is one of the most important goals. This paper proposes a walk control consisting of a feedforward dynamic pattern and a feedback sensory reflex. The dynamic pattern is a rhythmic and periodic motion, which satisfies the constraints of dynamic stability and ground conditions, and is generated assuming that the models of the humanoid and the environment are known. The sensory reflex is a simple, but rapid motion programmed in respect to sensory information. The sensory reflex, we propose in this paper, consists of the body posture control, the actual ZMP (Zero Moment Point) control, and the landing time control. With the dynamic pattern and the sensory reflex, it is possible for the humanoid to walk rhythmically and to adapt itself to environmental uncertainties. The effectiveness of our proposed method was confirmed by walk experiments of an actual 26 DOF humanoid on an unknown rough terrain and in the presence of disturbances.
An improved procedure of Lyapunov feedback control is developed in this paper. The procedure includes two parts. First, a discontinuous controller is designed. The extended Lyapunov's stability theory is used for ...
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ISBN:
(纸本)0780372034
An improved procedure of Lyapunov feedback control is developed in this paper. The procedure includes two parts. First, a discontinuous controller is designed. The extended Lyapunov's stability theory is used for the stability analysis of the resulting non-smooth control system. Next, the discontinuous terms in the controller are replaced with continuous functions. This weakens the stability but avoids the chattering of the controller. The trade-off in the stability is analyzed using the concept of Lyapunov exponents. To the best of our knowledge, such an analysis has not been performed before. We demonstrate the effectiveness of the design procedure by stabilizing two-link base-excited inverted pendulum system around the upright position. We believe that our improved design procedure makes the Lyapunov feedback control more applicable.
In this paper, a fuzzy logic scheme is developed to improve the performance of a magnetic bearing control system. The developed fuzzy logic strategy is utilized in the non-linear control of a dual-acting magnetic bear...
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ISBN:
(纸本)0780378660
In this paper, a fuzzy logic scheme is developed to improve the performance of a magnetic bearing control system. The developed fuzzy logic strategy is utilized in the non-linear control of a dual-acting magnetic bearing actuator system. The mathematical model of a dual acting magnetic bearing axis has been developed. The non-linearity in this system is due to the relationship between the forces generated in the electromagnetic actuator and the coil current and the air gap between the rotor and the stator. Nonlinearities in magnetic bearing systems limit control effectiveness and the region of stable performance. The model is used for dynamic simulation purposes and it is not directly used in the fuzzy controller design. Active magnetic bearing with adaptive fuzzy control showed a good improvement in step response compared to a linear PID or a steady state controller. With the presented fuzzy logic based strategy, nonlinear controllers for nonlinear applications can be designed with little effort.
In this paper, an adaptive neurocontrol system with two levels is proposed for the motion control of a nonholonomic mobile robot In the first level, a recurrent network improves the robustness of a kinematic controlle...
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An incremental cause-effect type of dynamical model is proposed in this paper for use in a predictive control scheme. The model parameters comprise a scaling factor, a memory length and the shape of a specially introd...
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ISBN:
(纸本)0780372034
An incremental cause-effect type of dynamical model is proposed in this paper for use in a predictive control scheme. The model parameters comprise a scaling factor, a memory length and the shape of a specially introduced membership function. This function represents the normalized degrees of the cause-effect relationships between the past time changes of the control input and the current change of the plant output. The model of the plant dynamics can be identified from experimental data by the Least Mean Squares (LMS) algorithm. A special algorithm for reduced size Identification that uses tuning of a one-dimensional TS fuzzy model by the LMS algorithm is shown in the paper. An improved version of the predictive control scheme is also introduced that leads to a reduction of the prediction errors that are caused by the inaccuracy of the plant model. Finally, numerical simulations are shown to illustrate the performance of proposed control algorithm that lead to a conclusion for applicability of the method.
This paper describes the development and testing of control of the OmniTread OT-4 robot by the Seventh Generation (7G) control System. control of OT-4 was developed in the Yobotics 3D simulator by an iterative process...
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ISBN:
(纸本)9781424407897
This paper describes the development and testing of control of the OmniTread OT-4 robot by the Seventh Generation (7G) control System. control of OT-4 was developed in the Yobotics 3D simulator by an iterative process combining genetic algorithm, learning and analytic programming techniques. The control system developed in simulation was tested by controlling the real OT-4 robot in the laboratory. The performance of the real OT4 robot under 7G control on stairs, parallel bars, a slalom course, and stairs with obstacles corresponded well to the simulated performance on which development of the control system was based.
In this paper, using recurrent high order neural networks as an identification strategy for unknown pinned nodes dynamics, a new scheme for pinning control of complex networks with changing unknown coupling strengths ...
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In this paper, using recurrent high order neural networks as an identification strategy for unknown pinned nodes dynamics, a new scheme for pinning control of complex networks with changing unknown coupling strengths is proposed and a robust regulation behavior on such scenario is demonstrated.
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