This work presents investigations into controlling a two-wheeled robotic machine (TWRM) with a payload positioned at different locations along its intermediate body (IB). Two types of control techniques are developed ...
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ISBN:
(纸本)9812835768
This work presents investigations into controlling a two-wheeled robotic machine (TWRM) with a payload positioned at different locations along its intermediate body (IB). Two types of control techniques are developed and implemented on the system model. The traditional proportional-derivative (PD) control and fuzzy logic (FL) control. An external disturbance force is applied to the rod that constitutes the IB in order to test the robustness of the developed controllers. The simulation results of both control algorithms are analyzed on a comparative basis for the developed two control techniques.
This paper gives a brief survey of several ideas in the literature on how to increase student enthusiasm and engagement with learning by incorporating multimedia production into assignments. A description is given on ...
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This paper discusses the steering control for a wheelchair on two wheels. A novel fuzzy logic control (FLC) system is designed and implemented for this highly nonlinear system. The wheelchair system is modeled in Visu...
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When designing a new product it is often advantageous to use virtual engineering as either a replacement or assistant to more traditional prototyping. Virtual engineering consists of two main stages: (i) development o...
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This paper presents current work on application of bacterial foraging algorithms for modelling of a single-link flexible manipulator. Bacterial foraging algorithms (BFAs) with adaptable chemotactic step size are used ...
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This paper presents the development of an active vibration control (AVC) mechanism using real-coded genetic algorithm (RCGA) optimization. The approach is realized with single-input single-output (SISO) and single-inp...
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A control technique is developed to balance a two-wheeled robotic machine (TWRM) with a payload in a sliding motion along its intermediate body (IB). The balancing of the robot has to be achieved during the motion of ...
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ISBN:
(纸本)9812835768
A control technique is developed to balance a two-wheeled robotic machine (TWRM) with a payload in a sliding motion along its intermediate body (IB). The balancing of the robot has to be achieved during the motion of the vehicle and the payload. An external disturbance force is applied to the rod in order to test the robustness of the developed controller. Investigations are carried out on the effect of changing the level and duration of the disturbance force, and changing the speed of the payload on the system during the balancing mode. The simulation results with two control algorithms are analysed and discussed on a comparative basis.
The wind-wave excitations cause structural vibrations on the Floating Offshore Wind Turbines (FOWT) pressing the power generation efficiency and reducing the life expectancy. In particular, tower-top displacement and ...
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This paper explores the computational efficiency of the recently developed Laguerre optimal MPC. Laguerre OMPC facilitates substantial improvements in feasibility with lit- tle or no detriment to performance while not...
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ISBN:
(纸本)9780889868892
This paper explores the computational efficiency of the recently developed Laguerre optimal MPC. Laguerre OMPC facilitates substantial improvements in feasibility with lit- tle or no detriment to performance while not increasing the number of optimisation variables. However, it is shown that some of the structure of the optimisation problem is lost when using a Laguerre parameterisation. In contrast, Optimal MPC can has a strong structure which can be exploited in the active set method thus allowing relatively in- expensive optimisation with large numbers of degrees of freedom. This paper contrasts the two approaches to predictive control and in particular the computational load us- ing both a generic optimiser and active set methods.
This paper presents the development of a rehabilitation robotic platform to research on the adaptation of the complexity of robot assisted therapy and the real-time displays of a virtual reality system in accordance w...
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