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.
Haptics technology deals with sense of touch and kinesthetic learning through actuators. Haptics classified into human Haptics, machine Haptics, and virtual augmented reality. This review paper focuses on explaining Haptics through texture modeling of various surfaces through measuring tool classification. Equations, errors and future applications of Haptics through texture identification.
In this paper a nonlinear robust control strategy designed for underactuated mechanical systems is proposed in order to solve the path tracking problem for a quadrotor unmanned aerial vehicle. An underactuated nonlinear ℋ∞ controller based on the six degrees of freedom dynamic model is designed to control the helicopter attitude and altitude in the inner-loop. The outer-loop control is performed using...
The present work deals with the classical problem of speed estimation for a small 4 rotors helicopter drone based on acceleration, rotation angles and angular speed measurements only. This problem concerns indoors applications as well as outdoors applications close-by large structures. Small Unmanned Air Vehicles (UAV) are commonly used for inspection applications such as beneath bridges, water dams,...
Traffic dependent speed limits have improved the security of highway traffic considerably. However, on highway sections controlled by variable speed limits large oscillations in speed can still be observed. On the basis of traffic data and a macroscopic traffic model, the influence of decentrally controlled speed limits on the states of highway traffic is analyzed. It is shown that local control of...
This paper introduces the attitude estimation method of humanoid robot using an extended Kalman filter with a fuzzy logic based tuning algorithm. A humanoid robot which uses inertial sensors such as gyros and accelerometers to calculate its attitude is considered. It is known that the attitude update using gyros are prone to diverge and hence the attitude error needs to be compensated using accelerometers...
This paper describes a hybrid control scheme to swing-up a pendulum mounted on a cart (cart-pole system) or on another pendulum (pendubot system). Switches between equilibria of the actuated link are used to swing-up the free link. It is argued that this hybrid design is robust and versatile, considerably simplifies the closed-loop analysis, and is well-suited for performance optimization.
This paper examines the capturability of a guidance law that provides a desired angular acceleration of the heading angle to a pursuer. The guidance law has originally been proposed by Fajen and Warren[13], in order to explain the behavior of walking humans. It is shown that the relative rotational motion between a pursuer and an evader can be represented by an equation similar to the equation of...
This paper presents a new approach, which exploits the recently developed Dynamic Fuzzy Neural Networks (DFNN) learning algorithm. The DFNN is based on extended Radial Basis Function (RBF) neural networks, which are functionally equivalent to Takagi-Sugeno-Kang (TSK) fuzzy systems. The algorithm comprises 4 parts: (1) Criteria of rules generation; (2) Allocation of premise parameters; (3) Determination...
A smooth trajectory generator useful in motion control systems is presented. The considered generator is a second order nonlinear system which receives as input a standard reference signal (step, ramp, etc.) and provides as output a smooth reference signal satisfying proper nonlinear constraints on the state variables as, for example, bounds on the first time-derivative x of the output x, or bounds...
Parametric ship roll resonance is a phenomenon where a ship can rapidly develop high roll motion while sailing in longitudinal waves. This effect can be described mathematically by periodic changes of the parameters of the equations of motion, which lead to a bifurcation. In this paper, the control design of an active u-tank stabilizer is carried out using Lyapunov theory. A nonlinear backstepping...
A computationally effective trajectory generation algorithm of omnidirectional mobile robots is proposed. The algorithm plans a reference path based on Bézier curves for obstacle avoidance. Then the algorithm solves the problem of motion planning for the robot to track the path in a short travel time while satisfying dynamic constraints and robustness to noise. The numerical simulation demonstrates...
In the field of cycling competition, cyclists commonly utilize binding pedals to maximize their competitive performance. The feature of binding pedals is to hold the sole of cycling shoe on the upper body of pedal, which enables a cyclist to not only push down the pedals but also pull up the pedals in one revolution of pedaling motion. Pedaling motion is implemented by the combination of muscle activities...
Unmanned Aerial Vehicles have a lot of potentials in outdoor applications. However, uncertainties such as wind disturbances and mass change when performing some particular tasks, greatly affect their tracking performance. This paper presents a methodology using L1 adaptive control to address some of the robustness issues of the quadcopter in outdoor flight which significantly improves the performance...
This paper investigates the stabilization problem of spacecraft rendezvous with target spacecraft in an arbitrary elliptical orbit. A linearized dynamic model, obtained from the Hill-Clohessy-Wiltshire (HCW) equations, is used to describe the relative motion of two spacecrafts. An inverse optimal method is introduced to deal with the stabilization problem in presence of external disturbances. With...
Particle swarm optimization (PSO) algorithms have a number of parameters to which their behaviour is sensitive. In order to avoid problem-specific parameter tuning, a number of self-adaptive PSO algorithms have been proposed over the past few years. This paper compares the behaviour and performance of a selection of self-adaptive PSO algorithms to that of time-variant algorithms on a suite of 22 boundary...
Adaptive Control of an Aerial Manipulation Vehicle is discussed here. The aerial manipulation vehicle consisting of a quadrotor and a robotic arm has a highly coupled dynamics. The nonlinear coupling introduces additional forces and moments on the quadrotor which prevents it from precisely hovering at a position and tracking of reference trajectory. A decentralized control of robotic arm and quadrotor...
In this paper, a modification is done in Gravitational Search Algorithm (GSA) where an alpha parameter (α) is modified. This modification is done in order to provide different gravitational constant, G(t) and acceleration (a) to each agent as trying to improve its performance. Then this modified GSA algorithm is tested to see the effectiveness of PID controller in finding the value of KP, KI and K...
Managing the working time (tact-time) is important to improving the efficiency of a production line using industrial robots. Therefore, the tact-time must be managed exactly. However, a feedback system generates a phase delay. Consequently, managing the designed tact-time exactly is difficult. To solve this problem, this paper proposes Final-State-Control (FSC) based on high-speed positioning control...
This article describes the implementation and use of a two-accelerometer system to measure the angle formed between lower joints of weightlifters during the execution of the technical gesture. Being aware of movement between joints will allow identifying bad moves and prevent injuries in athletes. Likewise, it will help in turn to rehabilitation for people with problems in the movement of their joints...
This paper presents a new energy and power management control strategy for battery electric vehicle (BEV) with supercapacitors (SCs) based on speed command and acceleration estimation. The purpose of the control strategy is to increase the capability of regenerative braking energy capturing and to improve DC bus voltage regulation. The control strategy uses cascade voltage and current control of SCs...
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.