The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The considered Tractor Trailer Wheeled Mobile Robot (TTWMR) is type of Mobile Robot including a master robot – Tractor and slave robots – Trailers which moves along Tractor to track a given desired trajectory. The main difficulties of the stabilization and the tracking control of TTWMR are due to nonlinear and underactuated systems subjected to nonholonomic constraints. In order to overcome these...
Multi-motor drive systems have been widely used in many modern industry. It is a nonlinear, multi-input multi-output (MIMO) and strong-coupling complicated system, including the effect of friction and elastic. The control law for this dive system based on the determining of the tension. However, it is hard to obtain this tension in practice by using a load cell or a pressure meter due to the accuracy...
The issue of applying H∞ to control wheeled inverted pendulum is a topic of much concern on account of underactuated and nonlinear model. Authors in [1] selected Lyapunov candidate function presented following HJ equation. Almost previous papers using H - infinity to control WIP must assume that desired accelerator is zero and model is linearized at origin, leading to that system does not obtain global...
Robotic systems are widely used in the manufacturing industries to improve high quality products. When a fault occurs in manipulator, the faulty robot operates in abnormal condition, which causes insecurity for devices and human. In general, the dynamic of residual vector consists of fault information. In order to evaluate the residual vector, data-driven technique based on statistical theory is used...
Linear motors have many advantages in compare with rotary motors due to directly creating linear motion without gears or belts,… It is hard to apply the online model predictive controller for electro-mechanism systems with input, output and state constraints because it requires the good ability in calculations of microcontroller and the nonlinear property of these models. In this paper, the exact...
Teleoperation is a human control system enabling humans to interact with the remote environment through a dual robot system which includes a master robot and a slave robot operating in two different places. Wave variables and scattering approaches were proposed in [1],[2] with constant time delay, [3],[4] with varying time delays. This paper develops them based on different wave variables and new...
Bilateral teleoperation is a robotic system helping humans to work with the remote environment through a dual robot which includes a local robot and a remote robot operating with considerable time delays. In order to overcome this obstacle, beside the proposed wave variables and scattering approaches [1], [2], the conventional methods without wave variables has been pointed out in [3], [4] with constant...
The issue of nonlinear model predictive control has always been a topic of much concern. We will propose a new approach to robust nonlinear model predictive control to class of nonlinear model system with input constraint under state-dependent disturbances. The considered class of model is separated into linear part at current state, nonlinear part and state-dependent disturbances which are assumed...
A wheeled mobile robotic system (WMR) is a kind modular robotic, nonlinear and the system subjected to nonholonomic constraints. It is impossible to obtain an exact dynamics model due to unknown parameters, unpredictable and irregular features, external disturbance. This paper proposes an adaptive robust controller to guide WMR to follow the desired trajectory. The cascade control system is applied...
This work develops a technique to design a feedback stabilizing control law for an unstable autonomous switched system. This method is analyzed and then applied to the DCDC buck converter when considering the uncertainty of the parameters in the model. Based on this model, a control law is design to allow the output voltage track a reference voltage when the load is changed. The control objective...
A tractor-trailer wheeled robot (TTWR) is a kind of modular robotic system that consist of the tractor and the trailer are mechanically coupled to each other. It is impossible to obtain an exact dynamics model due to unknown parameters, or unpredictable and irregular features, external disturbance. Because of the non-holonomic constraints property, this paper proposes an adaptive robust cascade controller...
This work develops a systematic state-space approach to modeling of an improved buck-boost DC-DC converters. The averaged model of the converters is analyzed. Based on this model, a control law is design to keep the output voltage stable when the input is unstable. The simulation results are presented to confirm the capability of the converter to keep the output voltage stable. The proposed converter...
This work develops a systematic state-space approach to linearize the nonlinear bilateral teleoperation system. A feedback control law is proposed using the optimazation control method based on the variation method to stabilize the system. The simulation results using Simulink in Matlab are presented to validate the capability of the control system.
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.