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Robotics and Haptics constitute one of the emerging breakthroughs in science and technology, enabling their adoption in our businesses, economy, and society. Humans have benefited, and will continue to benefit, from such technologies capable of carrying out tasks in a variety of sectors. This talk will cover aspects of robotics and haptics research from manufacturing to medical applications and from...
PID control schemes have been widely used in most industrial control systems. However, it is difficult to determine a suitable set of PID parameters because most industrial systems have nonlinearity. In order to overcome such a problem, a data-driven PID (DD-PID) control scheme based on utilizing a database has been proposed and its effectiveness has been investigated. However, the DD-PID controller...
This paper provides a new generalized minimum variance (GMV) strategy based on input-output measurements. The proposed method can perform with no need for plant characteristics nor disturbance ones. The paper shows that the optimization of the proposed criterion results in the control parameters which achieve the GMV control. The application to datasets obtained from a continuous stirred tank reactor...
This paper proposes a data-driven controller tuning technique for regulatory control. The minimum variance controller is designed by using disturbance attenuation FRIT (Fictitious Reference Iterative Tuning). The controller parameters are tuned based on variance evaluation using closed-loop input-output data. In the proposed method, the controller is parametrized by the free parameter in the Youla-Kucera...
This paper proposes a data-driven generalized minimum variance (GMV) regulatory control with constrained controller structure. The proposed approach can obtain control parameters that improve the controller performance based on generalized minimum variance evaluation under the constraint of the FIR (Finite Impulse Response) controller as a linearly parametrized controller. The constrained control...
Thus far, most mowing work was performed manually. However, manual mowing is quite laborious. Meanwhile the robotic lawn mowers are developed all over the world. But those robots can't cut the grasses near the wall and strong stem because of Rotary cutter system that need safety cover on them. So in investigation, we improve performance of mowing system can cut grasses and hard stem and develop collection...
In this paper, a robust tracking control design for a bio-inspired robot arm with human-like motion mechanism based on human multi-joint viscoelastic properties is investigated by using robust right co-prime factorization approach. The motion mechanism and the measurement uncertainties of human multi-joint arm viscoelasticity are considered in designing operator bio-inspired controllers, and the time-varying...
The output tracking controller design problem is dealt with for the nonlinear semi-strict feedback systems in the presence of mismatched nonlinear uncertainties. The controller is designed in a back stepping manner, and to avoid the shortcoming of “explosion of terms”, the dynamic surface control technique is adopted. At each step of the virtual controller design, a robust feedback controller employing...
In this paper, an operator-based robust perfect control for nonlinear semiconductor refrigeration device with uncertainties is considered. For the research about the properties of the semiconductor refrigeration, an aluminum plate with Peltier device is very representative. So, the perfect tracking control performance is investigated by using this device. The robust right coprime factorization approach...
This paper explores the use of Wi-Fi relay nodes, deployed by a robotic agent, to geometrically expand a network backbone across a distance to connect two devices which are located outside one another's transmission ranges. This exploration different from existing studies, as it considers a more practical scenario; in which the agent is not provided details of the surrounding environment. More specifically,...
With the development of modern technology, the practical systems become much more complex, smart actuators and sensors, such as piezoceramic and magnetostrictive material based ones, have widely been used in reality due to its variety of advantages. Therefore, nonlinearities, including not only the dynamical nonlinearity but also the non-smooth nonlinearities both in actuators and sensors, should...
A friction compensator based repetitive control (FCRC) is proposed in this paper to improve tracking periodic reference, and compensating frictions. The stability analysis is conducted, and the design conditions are presented to ensure a stable system. Then, MATLAB Simulink is applied to simulate the proposed algorithm. The comparison studies are conducted to show the effectiveness of the FCRC.
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