Wide-bandwidth bilateral control using two-stage actuator system

Neuro-fuzzy control of bilateral teleoperation system using FPGA

This paper presents an adaptive neuro-fuzzy controller ANFIS (Adaptive Neuro-Fuzzy Inference System) for a bilateral teleoperation system based on FPGA (Field Programmable Gate Array). The proposed controller combines the learning capabilities of neural networks with the inference capabilities of fuzzy logic, to adapt with dynamic variations in master and slave robots and to guarantee good prac...

Computing Actuator Bandwidth Limits for Adaptive Control

In recent studies, an LMI-based hedging framework has been developed and demonstrated for model reference adaptive controllers in order to achieve command following in the presence of actuator dynamics. In this paper, we generalize this framework for dynamical systems subject to uncertainty in the control effectiveness and provide a detailed stability analysis of the proposed approach. An illus...

Computing actuator bandwidth limits for model reference adaptive control

Tracking control of piezoelectric actuator system using inverse hysteresis model

The intrinsic hysteresis behavior of piezoelectric material limits the tracking control accuracy of the actuators. This paper describes a tracking control method for piezoelectric actuators based on the combination of feedforward and feedback loops. The hysteresis of piezoelectric actuators is linearized in feedforward loop with an inverse hysteresis model based on a neural network. The number ...

Development of Piezoelectric Actuator Control System using FEM

In this paper, the Finite Element Method (FEM) is proposed for application to a real-time control system of connected piezoelectric actuators, assuming an actuator as finite elements, which are mainly used in the field of computational mechanics. The FEM is capable of expressing the state of an entire system by stiffness equations, and can cope flexibly with lack or disability of constituent el...