In this note we are concerned with controller design for robot manipulators equipped with brushed DC-motors in the case when the electric dynamics of these actuators is not neglected. We present, for the first time, stability proofs which show that PD control with desired gravity compensation and the classical PID controller presented previously in the literature under the assumption that no ac...

As capacity demands for magnetic tape storage systems grow, servo actuator design for tracking data on high density tape media presents new modeling and control design challenges. In this paper a frequency weighted subspace identification algorithm is presented for control relevant model estimation of a tape servo actuator. Common to other subspace identification methods, the proposed algorithm...

This paper investigates the control problem of distributed parameter systems (DPS) with time-varying delay by employing mobile actuator-sensor networks. It is assumed that each agent in the networks has a sensor device which can measure spatial state, and an actuator device that can dispense control signals to spatially distributed process and can communicate with its neighbors. To better contr...

Experimental investigation has been carried out towards understanding the complex fluid dynamics involved in the interaction of vortical structures with zero pressure gradient boundary layer. A laminar boundary layer is produced on the flat plate placed in the water flume and the synthetic jet actuator is deployed on top of the plate at a definite distance from the leading edge. The synthetic j...

This paper studies the benefit of time-varying actuator scheduling on the controllability of undirected complex networks with linear dynamics. We define a new notion of nodal communicability, termed 2k-communicability, and unveil the role that this centrality measure plays in selecting which nodes to actuate over time to optimize network controllability, as measured by the trace of the controll...

We present a model-based approach to recover the rigid and non-rigid facial motion parameters in video sequences. Our face model is based on anatomically motivated muscle actuator controls to model the articulated non-rigid motion of a human face. The model is capable of generating a variety of facial expressions by using a small number of muscle actuator controls. We estimate rigid and non-rig...

A fault tolerant control system design technique has been proposed and analyzed for managing performance degradation in the presence of multiple faults in actuators. The method is based on a control structure with a model reference reconfigurable control design in an inner loop and command input adjustment in an outer loop. The reduced dynamic performance requirements in the presence of differe...

Retrospective cost adaptive control is applied to low Reynolds number aerodynamics around an SD7003 airfoil with a dielectric barrier discharge (DBD) actuator located near the leading edge. The adaptive control algorithm uses knowledge of Markov parameters to capture information about any nonminimum-phase zeros in the dynamics. In this paper, we explore the impact of the adaptive controller on ...

This paper presents the design and analysis of a novel variable stiffness and variable resonance actuator based on a cellular arrangement of piezoelectric devices. The cellular muscle actuator design concept is presented followed by a general dynamic model for establishing the theoretical bounds on achievable resonant frequencies. A model that is specific to the proposed design is then formulat...

In this study, active fault tolerant flight control technique with actuation reconfiguration is proposed. For this purpose two-stage Kalman filter (TSKF) is designed to identify the control distribution matrix elements corresponding to the faulty actuator, and a control reconfiguration action is taken to keep the performance of the impaired aircraft same as that of the unimpaired aircraft. Thus...