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With aging power distribution systems and new opportunities for renewable energy generation, the smart grid and microgrid are becoming increasingly important. Microgrid allows the addition of local loads and local distributed generation (DG) including wind power, solar, hydroelectric, fuel cells, and micro-turbines. Microgrid holds out the hope of scalable growth in power distribution systems by distributed...
In this paper, a robust nonlinear tracking control design for an ionic polymer metal composite (IPMC) with uncertainties is proposed by using Neural Network based sliding mode approach. The IPMC, also called artificial muscle, is a novel smart polymer material, and many potential applications for low mass high displacement actuators in biomedical and robotic systems have been shown. In general, the...
In this paper, operator based nonlinear water temperature control experiment for microreactor group actuated by Peltier devices is proposed. Considering heat transfer, heat conduction, and thermal radiation feat, nonlinear thermal models of aluminum plates and tubes that structures the microreactor group are obtained. Therefore, the temperature change of aluminum becomes the part of an input to the...
In this paper, a nonlinear tracking control of a robot arm in the presence of uncertainties is proposed by using robust right coprime factorization and sliding mode approaches. In general, there exist unknown modeling errors in measuring structural parameters of the robot arm and external disturbances in real situations. In the present control system design, the effect of the modeling errors and disturbance...
In this paper, a robust tracking control design for nonlinear plants with perturbation is considered by using operator-based observers and robust right coprime factorisation approach. In real situations, there exist unknown uncertainties consisting of modeling errors and external disturbances. The robust right coprime factorization approach is convenient in researching input-output stability problems...
Proportional-Integral-Derivative(PID) control is widely used in DC motor system, because of its simple structure, high reliability and so on. However, the parameters of PID controller is commonly tuned by manual method and it also has large overshoot phenomenon for nonlinear and time-varying systems. So it is difficult to get ideal control effect. In order to overcome the defect of PID whose parameters...
In this article, based on grey relational analysis method, relational polarity analysis for the anti-respiratory syncytial virus effect of compositions from Baikal skullcap root was studied. The compositions with reinforcement effect on the therapeutic index of anti-respiratory syncytial virus were found and ranked.
Instead of traditional actuators, tube-type dielectric elastomer actuators (DEAs) based parallel link mechanism is proposed in this research. As an application case, the mechanism fixed with a marker pen is used to implement one stroke draw and human like draw of alphabets. According to the prototype of this mechanism, kinematics and inverse kinematics problems are solved. The numerical simulation...
In this paper, robust nonlinear control for nonlinear uncertain systems preceded by hysteresis is considered by using operator based robust right coprime factorization approach. Since not all hysteresis model is suitable in operator-theoretic based settings, one generalized Prandtl-Ishlinskii hysteresis model and its inverse model are introduced. The properties of the models are summarized, which...
This paper presents an innovative algorithm for improvement of the walking robot dynamic stability, using the Desert Smarandache Theory (DSmT) and the neutrosophic logic set. Starting from the hybrid force-position control, by applying the Robot Neutrosophic Control (RNC) method we extend the fuzzy control for walking robot stability motion on uneven terrain and in unstructured environments. Results...
This paper presents a multi-joint lower limbs rehabilitation robot with three degrees of freedom. The robot includes seat, left mechanical leg, right mechanical leg and electric control box, and each mechanical leg includes the hip joint, knee joint and ankle joint which correspond to the hip joint, knee joint and ankle joint of human. The mechanical structure of the rehabilitation robot is described...
The two-degree-of-freedom structure allows us to design independently feedforward and feedback controls for response shaping and stabilization, respectively. Feedforward control with on-line tuning is particularly promising for improvement of response, so that various schemes have been proposed in literature. This paper proposes yet another scheme along this direction with focus on the control structure...
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