Flexibility Optimized Control for Robot Efficient Moving in Corridors Based on Viability Theory

development and implementation of an optimized control strategy for induction machine in an electric vehicle

in the area of automotive engineering there is a tendency to more electrification of power train. in this work control of an induction machine for the application of electric vehicle is investigated. through the changing operating point of the machine, adapting the rotor magnetization current seems to be useful to increase the machines efficiency. in the literature there are many approaches wh...

Speed Optimization Control for Wheeled Robot Navigation with Obstacle Avoidance Based on Viability Theory

The navigation efficiency of wheeled robots needs to be further improved. Although related research has proposed various approaches, most of them describe the relationship between the robot and the obstacle roughly. Viability theory concerns the dynamic adaptation of evolutionary systems to the environment. Based on viability, we explore a method that involves robot dynamic model, environmental...

Real-Time Control for Autonomous Racing Based on Viability Theory

In this paper we consider autonomous driving of miniature race cars. The viability kernel is used to efficiently generate finite look ahead trajectories that maximize progress while remaining recursively feasible with respect to static obstacles (e.g., stay inside the track). Together with a low level model predictive controller, this method makes real time autonomous racing possible. The viabi...

CONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY

A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...

Modeling robot flexibility for endpoint force control