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This paper proposes an active steering method using adaptive sliding mode control to estimate the upper bounds of time-derived hyperplane and uncertainties of lateral forces. This is achieved by utilizing a state-dependent switching function based on state-dependent Riccati equation (SDRE) for the four-wheel-steering vehicle; it takes lateral force saturation characteristics into account. Our proposed...
A new hybrid swing-up and stabilization controller (HSSC) for the inverted pendulum-cart system (IPCS) is proposed. The HSSC includes a fuzzy switching controller, a simple swing-up controller, and a fuzzy stabilization controller. The proposed HSSC can autonomously adapt its parameters according to the changes in the specification parameters of the IPCS without any need for an external adaptation...
Impedance and Admittance Control are two distinct implementations of the same control goal. It is well known that their stability and performance properties are complementary. In this paper, we present a hybrid system approach, which incorporates Impedance and Admittance Control as two extreme cases of one family of controllers. This approach allows to continuously switch and interpolate between Impedance...
Control approaches for nonholonomic systems have utilized canonical forms. A nonholonomic double integrator model is the one of canonical forms for nonholonomic systems. Outputs of the controller based on the nonholonomic double integrator model are velocity commands for the kinematic model of a nonholonomic system. In this paper, we consider an extended nonholonomic double integrator model, in which...
This paper presents a two-order A-type iterative learning control (ILC) scheme along time axis using a switching (SW) Q-filter to restrain periodic force ripples of permanent magnet linear synchronous motor (PMLSM). The purpose of employing the time-varying SW Q-filter is to utilize the enhanced robustness given by a low bandwidth filter, while taking advantage of the superior properties of a high...
This paper addresses the problem of modeling, control, and simulation of a mechanical system actuated by an agonist-antagonist musculotendon subsystem. Contraction dynamics is given by case I of Zajac's model. Saturated semi-positive PD-type controllers with switching as neural excitation inputs are proposed. Linear approaches of nonlinear systems, root locus, switched systems control and SOSTOOLS...
This paper presents a method for completing Lagrangian hybrid systems models in a formal manner. That is, given a Lagrangian hybrid system, i.e., a hybrid system that models a mechanical system undergoing impacts, we present a systematic method in which to extend executions of this system past Zeno points by adding an additional domain to the hybrid model. Moreover, by utilizing results that provide...
S-plane control is proved to be a feasible method with disadvantages at high speed in application to AUV motion control. To compensate the motion couple effect at high speed, a modified S-plane controller is proposed by analyzing AUV's dynamics and taking static force and coupling effects between longitude velocity and other dimensions into account. Besides the advantages of S controller such as simple...
A cost-effective electrostatic suspension system is presented in this paper. In this system, an object is suspended stably at reference gap without any mechanical contacts in both atmospheric and vacuum environment. The position control is based on bang-bang time optimal control. It operates according to a relay feedback control and uses only two high-voltage power supplies to apply dc voltages of...
This paper makes a study of application of variable structure control for stabilizing double inverted pendulum system and designs state-feedback controller based on poles placement theory. The researching results of this paper are applied to linear inverted pendulum experiment equipment produced by Googol Technology LTD. so as to verify the effectiveness of the control law. The result of experiments...
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