Strings are commonly used in engineering structures but are highly susceptible to vibrations due to their low structural stiffness and damping. Suppressing these vibrations poses a significant challenge, as existing tools and technologies are limited...
27 July 2019
This paper studies the hyperstability and the asymptotic hyperstability of a single-input single-output controlled dynamic system whose feed-forward input-output dynamics is nonlinear and eventually time-varying consisting of a linear nominal part, a...
This study aims to develop a X-Y dual-axial intelligent servo pneumatic-piezoelectric hybrid actuator for position control with high response, large stroke (250 mm, 200 mm) and nanometer accuracy (20 nm). In each axis, the rodless pneumatic actuator...
This dissertation presents a fresh control strategy for dynamic positioning vessels exposed to model uncertainty, various external disturbances, and input constraint. The vessel is supposed to work in a particular situation surrounding a lighthouse o...
This paper visualizes the role of hyperstable controllers in the closed-loop asymptotic stability of a single-input single-output system subject to any nonlinear and eventually time-varying controller within the hyperstable class. The feed-forward co...
The System identification (SI) black box method is used in this study to obtain the mathematical model of a fiber braided bending actuator (FBBA) using MATLAB Simulink. Data from the system input and output are used by the black box method. Thus, the...
We propose a nonlinear position control using a differential flatness concept with a load torque observer to compensate for the sinusoidal load torque in electro-hydraulic actuators (EHAs) EHAs. In an EHA with a rotational joint, the load torque is a...
In classical impedance control, KD, the steady-state end-effector forces are imposed to be proportional to the end-effector position errors through the stiffness matrix, K, and a proper damping term is added, proportional to the first-order derivativ...
This paper investigates secure control of Networked Inverted Pendulum Visual Servo Systems (NIPVSSs) based on Active Disturbance Rejection Control (ADRC). Firstly, considering the network- and image-induced delays in conjuction with computational err...
The paper discusses the application of a motion profile with an elliptic jerk to Cartesian space position control of serial robots. This motion profile is obtained by means of a kinematic approach, starting from the jerk profile and then calculating...
In this paper a second-order data-driven Active Disturbance Rejection Control (ADRC) is merged with a proportional-derivative Takagi-Sugeno Fuzzy (PDTSF) logic controller, resulting in two new control structures referred to as second-order data-drive...
Conventional gyroscopes are equipped with a single-axis control input, limiting their performance. Although researchers have proposed control algorithms with dual-axis control inputs to improve gyroscope performance, most have verified the control al...
In this paper, a variable gain prescribed performance control law is proposed for dynamic positioning (DP) of ships with positioning error constraints, input saturation and unknown external disturbances. The error performance index functions are desi...
A human machine interface (HMI) is presented to switch on/off lights according to the head left/right yaw rotation. The HMI consists of a cap, which can acquire the brain’s electrical activity (i.e., an electroencephalogram, EEG) sampled at 500...
This paper discusses optimal design of the series proportional–integral–derivative–accelerative (PIDA) controller for integral-plus-dead-time (IPDT) plants. The article starts with the design of disturbance reconstruction and compen...
High-precision positioning systems play a crucial role in various industrial applications. This study focuses on improving the performance of a high-precision multi-degrees-of-freedom (DOF) stage. In terms of the controller design, the following two...
For positioning and anti-swing control of bridge cranes, the active learning control method can reduce the dependence of controller design on the model and the influence of unmodeled dynamics on the controller’s performance. By only using the r...
In this paper, a volumetric Rotman lens antenna operating at 28 GHz is proposed. The design formula and procedure were derived for the 3-D Rotman lens antenna. The number of tilted beams is 3 × 3. The six rectangular blocks are assembled using...
For solving the transformation problem between the desired nonlinear control laws and installed actuators’ input commands of torpedo-like underwater vehicles, one closed-form control allocation method is proposed in this article. The goal of th...
The Mecanum-wheeled robot has four special wheels. It can control four wheels independently and has seven turning axes. The robot can translate in all directions and travel in curves without changing its direction by means of the control commands for...
A bridgeless buck-boost power-factor-correction (PFC) rectifier with positive output voltage is proposed herein. This PFC rectifier operates in the discontinuous conduction mode (DCM). Owing to the DCM, a good performance on PF is easily achieved as...
Piezoelectric materials naturally possess high potential to deliver nano-scale positioning resolution; hence, they are adopted in a variety of engineering applications widely. Unfortunately, unacceptable positioning errors always appear because of th...
Nonholonomic four-wheeled mobile robot (NFMR) is a typical multiple input–multiple output system that formulates its kinematic dynamics concerning position and attitude in a parallel manner. However, due to the lumped disturbances and interconn...
This work describes the development of a vision-based tactile sensor system that utilizes the image-based information of the tactile sensor in conjunction with input loads at various motions to train the neural network for the estimation of tactile c...
In order to simultaneously address the issues of ship operating area limitation, unknown time-varying disturbances, immeasurable ship speed, unknown dynamics, and input saturation, this paper investigates the position-constrained ship dynamic positio...
DC motors are widely used in industries to provide mechanical power in speed and torque. The position and speed control of DC motors is receiving interest from the scientific community in robotics, especially in robotic arms, a flexible joint manipul...
The paper presents the methods and results of an experimental study that highlights the behavior of a pneumatic actuator under different pressures and with different loads applied. One important challenge that occurs in the application of pneumatic m...
Currently, there are few systematic position control parameter optimization methods for planar switched reluctance motors (PSRMs); how to effectively optimize the control parameters of PSRMs is one of the critical issues that needs to be urgently sol...
A switching losses reduction technique for the model predictive control (MPC) algorithm, which uses double-vector in the three-phase rectifier, is presented. The proposed method controls the output voltage of the rectifier by using reference rectifie...
Robotic forceps with a rigid-link joint mechanism is orthodox for current robotic-assisted surgery systems. However, external force estimation without force sensors during operations is difficult for such electrically driven forceps. This work introd...
This paper analyses a new half-bridge current–source inverter for avionic systems. In the circuit, two 28 V batteries are used as inputs. These voltage sources are connected to inductors which create a constant current source. Then only two hig...
A composite control strategy is proposed to improve the position-tracking performance and anti-interference capabilities of permanent magnet synchronous motors (PMSMs). This strategy integrates an active disturbance rejection controller (ADRC) and a...
China is the world’s largest potato producer, and the potato’s role in ensuring food security and rural development is irreplaceable. Therefore, how to achieve sustainable growth in potato production has attracted widespread attention fro...
The fuzzy logic controller, which uses an analytic activation function for the defuzzification procedure, was applied to the position control of a servo pneumatic drive controlled by a proportional valve. The Gaussian shape of input fuzzy sets, with...
In this paper, an algebraic approach for the finite-time feedback control problem is provided for second-order systems where only the second-order derivative of the controlled variable is measured. In practice, it means that the acceleration is the o...
This paper studies hydraulic cylinder position adjustment controlled by an on–off valve. The aim of this paper is to develop a method of position control for a hydraulic cylinder based on input and output pressure under the mutual coupling feed...
The article describes the application of a straight forward energy converter, a multiphase matrix converter (MC), as part of a device, connected parallel to the power grid, and able to supply variable reactive power flow to the power system. The rese...
Dielectrophoresis is defined as the motion of an electrically polarisable particle in a non-uniform electric field. Current dielectrophoretic devices enabling sorting of cells are mostly controlled in open-loop applying a predefined voltage on micro-...
In this paper, the actuation behavior of a two-axis electrothermal MEMS (Microelectromechanical Systems) mirror typically used in miniature optical scanning probes and optical switches is investigated. The MEMS mirror consists of four thermal bimorph...
Due to the rapid development of a global navigation satellite system and the rapid growth of ships, the traditional control algorithms are not suitable; hence, the longitudinal rocking phenomenon generated by external disturbances is more serious whe...
The positive output elementary Luo (POEL) converter is a fourth-order DC–DC converter having highly non-linear dynamic characteristics. In this paper, a new dynamic output voltage feedback controller is proposed to achieve output voltage regula...
In large heavy-duty machine tool applications, the parametrization of the controller that is used for the positioning of the machine can affect the machine tool dynamics. The aim of this paper is to build a Multiple-Input and Multiple-Output model th...
Owing to the complex dynamics of quadrotor unmanned aerial vehicles (UAVs) and their susceptibility to unknown interferences in an actual working environment, the flight control accuracy of UAVs is extremely high. Moreover, their anti-interference ab...
This paper proposes a digital model predictive controller (DMPC) for a multi-input multi-output (MIMO) DC-DC converter interfaced with renewable energy resources in a hybrid system. Such MIMO systems generally suffer from cross-regulation, which seri...
Feedback linearization-based controllers are widely exploited in stabilizing a tilt rotor (eight or twelve inputs); each degree of freedom (six degrees of freedom in total) is manipulated individually to track the desired trajectory, since no singula...
The windup phenomenon occurs and results in performance degradation while the designed positioning controller output makes actuators saturated. This study presents significant and effective anti-windup controllers for performance improvement and comp...
In this paper, an efficient output reference trajectory tracking control scheme for direct current electric motor systems based on bio-inspired optimization is proposed. The differential flatness structural property of the electric motor along with d...
In this paper, a current-error-based iterative learning controller (ILC) with a nonlinear controller is proposed to improve the position-tracking performance in permanent-magnet (PM) stepper motors. Our proposed method comprises a current-error-based...
The subject of this publication is a synthesized description of an S-parameter linear analysis for the improvement of a particular RF amplifier. The model is applied in a simulation environment as a 100–500 MHz two-port device under test with c...
The permanent magnet (PM) spherical motor has been subject to growing interest from the scientific community due to its potential for applications in distinct areas, particularly in robotics, prosthetics, satellite control, sensors or camera systems....
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