This paper presents a control method based on virtual passive dynamic control that will stabilize a robot manipulator using joint torque sensors and a simple joint model. The method does not require joint position or velocity feedback for stabilization. The proposed control method is stable in the sense of Lyaponov. The control method was implemented onseveral joints of a laboratory robot. The ...

Torque ripple minimization of switched reluctance motor drives is a major subject based on these drives’ extensive use in the industry. In this paper, by using a well-known cascaded torque control structure and taking the machine physical structure characteristics into account, the proposed energy-based (passivity-based) adaptive sliding algorithm derived from the view point of energy dissipati...

this paper presents a reduce roll vibration of the full vehicle model with passive suspension systems using vibration absorber to change the dynamic system matrix stat’s eigenvalue. since using the controller system has been splurged and required to energy consuming, in this research the vehicle body roll vibration has been reduced and supplied vehicle stability using a vibration absorber for t...

In this paper the importance of self tuning adaptive PID control scheme for automotive suspension system is explained. The objective of this study is to obtain a mathematical model for the passive and semi-active suspension system for quarter car model. Current automobile suspension system employs springs and damper with fixed coefficient. Vehicle suspension systems are typically rated by their...

The recent trends show the interconnection of PV system with electric grid. With this configuration issue harmonics comes into existence. mounting figure power-electronic instruments has formed considerable impression on power-quality supply. Harmonics deformations have conventionally been handled amid application passive-LC filters. Active Filter emerged as a good substitute for passive filter...

This paper presents a pronking controller for our six-legged robot RHex. Development of the controller begins with a passive-dynamics approach, ensuring that the robot is naturally suited to running. Running with flight phase is then achieved using only proprioceptive (joint angle sensing only) feedback for touchdown detection and for tracking fixed joint reference trajectories. Body pitch osci...

The efficiency and positional accuracy of a lightweight flexible manipulator are limited by its flexural vibrations, which last after a gross motion is completed. The vibration delays subsequent operations. In the proposed work, the vibration is suppressed by inertial force of a small arm in addition to the joint actuators and passive damping treatment. The proposed approach is: 1) Dynamic mode...

Applying an evolutionary algorithm, we first develop the morphology of a simulated passive dynamic bipedal walking device, able to walk down a shallow slope. Using the resulting morphology and adding minimal motor and sensory equipment, a neural controller is evolved, enabling the walking device to walk on a flat surface with minimal energy consumption. The applied evolutionary algorithm fixes ...

A model suited for control tasks is developed for a submerged offshore pipe during the pipelay operation. The pipe is fixed in the touchdown point at the seabed in one end and attached to a pipelay vessel in the other end. The developed model is discrete and is on the form of the robot equation with minimal coordinates. Thus the methods of controller synthesis and stability analysis can be appl...

This chapter is concerned with the introduction of a fault tolerant control (FTC) framework using uncertain Takagi-Sugeno (FS) fuzzy models. Depending on how much information is available about the fault, the framework gives rise to passive FTC, active FTC without controller reconfiguration and active FTC with controller reconfiguration. The design is performed using a Linear Matrix Inequality ...