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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.
This paper describes the effects of input saturation in model-based fault diagnosis. A linear model has been used for the residual generator, in order to show its lack of robustness. The experiments have been developed on a simple simulation case: a liquid tank. The aim of the paper is to show the relation between the degree of nonlinearity and the performance of a diagnosis method based on linear...
The combination of flatness-based trajectory planning and feedforward control with asymptotically stabilizing dynamic feedback control is considered for the tracking control of a distributed-parameter model of a piezoelectric stack actuator.
In this paper, a new control strategy is developed to improve comfort and roadholding of a ground vehicle equipped with an industrial damper. This damper can be controlled by means of a small servomechanism which adjusts the damping rate. The main controller is a linear parameter varying (LPV ) static state-feedback controller synthesized in the ℋ∞/LPV framework to compute the required damping force...
This paper deals with latching control of the SEAREV ocean wave energy converter. It has been shown in previous studies that latching control could improve considerably the overall efficiency of the system, but assuming that the actuators idealy apply forces instantaneously. In reality, time constants are unavoidable in the response of the actuators and this can have an influence on the global benefit...
This paper proposes a method of controlling the vibration of a flexible structure using H-infinity control theory. For this purpose, two reduced order lumped mass models, expressed by 5-DOF systems each, are derived. These models are derived by considering the five vibration modes along the x and y direction respectively and neglecting all the other higher frequency modes. Neglected vibration modes...
This paper presents a new method for motion and vibration controls of a three dimensional flexible shaking table. The shaking table should be less weighted so that actuators require less control forces and higher fidelity to control commands. However, as the weight of shaking table is reduced, the natural frequencies of vibration modes of the table appear on operating frequency region. Such vibration...
Fault Detection and Isolation is one of the necessary requirements to guarantee the stability and performance of a control system under fault conditions. This paper will focus on observer based detection and isolation of actuator and sensor faults for a segmented primary dish telescope testbed using a relationship between sensors. This testbed is located at the Structures Pointing And Control Engineering...
A parametric H2 optimal control problem for linear continuous time-invariant systems is discussed. The control setup allows that any matrix coefficient of a system state space description be subjected to parameter uncertainties. Controllers with any order and any structure can be synthesized by recasting it as a Static Output Feedback problem. A modified H2 cost functional that allows to start the...
This paper presents a servo control synthesis to design a Linear Quadratic (LQ) servo controller for electro-pneumatic gearbox actuator. In order to achieve nominal performance and meet stability specifications, the LQ synthesis is applied for controller design. The dynamic model of the electro-pneumatic gearbox actuator is built and linearized around a specific point. In this way, the controller...
In this paper a new approach for fault-tolerant control (FTC) of systems subjected to multiple sensor and multiple actuator faults is presented. A model set is designed in such a way that the system in its normal or in each possible faulty mode of operation can be represented as a linear combination of the models in the model set. A possible way of selecting the model set in cases of sensor and actuator...
For a single control loop with communication rate constraints, Event-triggered control often outperforms periodic control. When multiple loops are being controlled over a shared contention-based medium, however, the advantage of event-triggered policies is less well understood. In this paper, we consider event-triggered impulse control under lossy communication. The sampling events are determined...
The feedforward control design and motion planning is considered for the realization of highly dynamic output trajectories for a lightweight flexible beam structure with macro-fiber patch actuators. The tracking performance is thereby evaluated in experimental results.
This paper investigates the output tracking results of SISO time-delay system using the super-twisting sliding mode control approach. By a system transformation and Padé approximation, the output tracking of time-delay system is transformed into the tracking of a nonminimum phase system. Stable system centre approach is used to approximate this system by a stable one. All the tracking errors and errors...
Robot gripper design is an active research area due to its wide spread applicability in automation. The present work deals with the actuator analysis of a non-linear, multi-modal and multi-objective optimization problem which is originally formulated by Osyczka [1]. The previous work [1] had treated the actuator as a blackbox. In the present work, the formulation has been changed by incorporating...
The long-term goal of this study is to realize a locomotion control for snake-like robots on various environments. A key point for the locomotion control is the normal direction friction force of each link of the robot. Because, a real snake can locomote by utilizing the difference of frictions in the propulsive and in the normal direction. In previous our study, a locomotion control of the snake-like...
The interest of series elastic actuators (SEAs) for legged robots has recently increased to achieve compliant interactions and efficient gaits. However, control of legged robots with SEAs is difficult due to the need to design controllers that take into account both torque and impedance feedback loops. The work presented here addresses this issue by proposing a critically-damped fourth order system...
Vibration test of electro-hydraulic actuator is widely used in the field of industry like large dynamic system to guarantee the performance of the system. As the system is working under the high speed condition, the dynamic vibration test is required naturally. The field of relevant industry involves not only general industry but also aircraft, military, running vehicle industries. Large amount of...
This paper studies the generalization of composite nonlinear feedback (CNF) control using arbitrary order set point filters, which focus on the initial stage of the transient response. The set point filters can be used to provide more performance by shortening the rise and settling times of the control system. Furthermore, the filters operate outside the feedback loop, and hence, they do not sacrifice...
A mathematical model for lift generation on a doughnut-shaped Coandă micro air vehicle is developed and an analysis on the lift generation due to Coandă effect is carried out utilizing basic principles. A degenerate two-dimensional case is also developed. The results are discussed in view of related analytical and experimental work in the literature.
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