This paper proposes a closed-loop optimal control model predicting changes between in-phase and anti-phase postural coordination during standing and related supra-postural activities. The model allows the evaluation of the influence of body dynamics and balance constraints onto the adoption of postural coordination. This model minimizes the instantaneous norm of the joint torques with a control...

In this paper, a two-surfaces sliding mode controller (TSSMC) is proposed for the voltage tracking control of a two input DC-DC converter in application of electric vehicles (EVs). The imperialist competitive algorithm (ICA) is used for tuning TSSMC parameters. The proposed controller significantly improves the transient response and disturbance rejection of the two input converters while p...

the prediction of the joint angle position, especially during tremor bursts, can be useful for detecting, tracking, and forecasting tremors. thus, this research proposes a new model for predicting the wrist joint position during rhythmic bursts and inter‑burst intervals. since a tremor is an approximately rhythmic and roughly sinusoidal movement, neural oscillators have been selected to underli...

Actuator failure and joint flexibility will dramatically impact space robot system control. In this paper, free-floating flexible-joint space-manipulator dynamic-modeling is studied a state-observer-based robust backstepping fault-tolerant control proposed for the actuator failure. Based on simplified model, system’s rigid-flexible coupled-dynamic equations are established according to momentum...

The rst part of this thesis includes a brief comparison between electricmotors and hydraulic actuators for high performance robotics applications. Hydraulic actuators with fast valves are shown to be superior because of their large torque to mass ratios and their extended bandwidth. One such hydraulic actuator is characterized and its highly nonlinear dynamics are modeled and identi ed. A simul...

Asynchronous intrafascicular multi-electrode stimulation (aIFMS) of small independent populations of peripheral nerve motor axons can evoke selective, fatigue-resistant muscle forces. We previously developed a real-time proportional closed-loop control method for aIFMS generation of isometric muscle force and the present work extends and adapts this closed-loop controller to the more demanding ...

This paper presents the design, development and implementation of an Adaptive Recurrent Neural Networks (ARNN) controller suitable for real-time manipulator control applications. The unique feature of the ARNN controller is that it has dynamic self-organizing structure, fast learning speed, good generalization and flexibility in learning. The proposed adaptive algorithm focuses on fast and effi...

The problem of reorientation of planar multibody systems in space with angular momentum preserving controls is studied. We consider rest-to-rest maneuvers for the absolute orientation of a multibody system which maintains zero angular momentum. We propose a control strategy for a system which is composed of (1) N planar rigid bodies interconnected by ideal pin joints in the form of an open kine...