In recent years, there has been a fast growth in wind energy conversion system (WECS). There are two general types of wind turbines in WECS: fixed speed wind turbines and varying speed wind turbines.Permanent magnet synchronous generator (PMSG) is one of the most attractive generators for the varying speed turbine WECS.In this paper, a fuzzy controller is proposed to control the current source ...

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 ...

The proper execution of agricultural robotic tasks needs the use of adaptive control techniques. This fact is mainly due to the nature of the systems to control, which are difficult-to-model and time-varying systems. After a review of previous works concerning adaptive control, a solution using a fuzzy adaptive controller is studied for the joint control of such robots. An analytic representati...

Robot manipulators are thought of as a set of one or more kinematic chains, composed by rigid bodies (links) and articulated joints, required to provide a desired motion to the manipulator’s end–effector. But even though this motion is driven by control signals applied directly to the joint actuators, the desired task is usually specified in terms of the pose (i.e., the position and orientation...

in order to study the development of knee joint in absence of movement; mouse limb buds were separated from 15 days old embryos and cultured in ham's f-io medium conditioned with 37°c and 5% co2 for 1 to 6 days. the medium was renewed every 24h during incubation. after 6 days, specimens were fixed by buin's fluid, embedded in paraffin wax, serially sectioned and stained with h&e.; the...

A hybrid learning procedure referred to as adaptive neuro fuzzy inference system (ANFIS) is applied to an artificial leg model to generate the correct positions of the servomotors actuating the leg joints. One of the most important control problems of mechanical arms and legs is the efficient calculation of correct joint angles for a space trajectory. Although this application represents the si...

The purpose of this paper is to design and optimize an intelligent fuzzy-logic controller for a three-degree of freedom (3DOF) artificial finger with shape-memory alloy (SMA) wire actuators. The robotic finger is constructed using three SMA wires as tendons to bend each phalanx of the finger around its revolute joint and three torsion springs which return the phalanxes to their original positio...

Controllers for parallel manipulators can be designed in task space or joint space, each having its own advantages and disadvantages. In this paper, integral sliding mode controllers designed in joint space and in task space are compared using MATLAB simulation. In both cases, genetic algorithm is used to determine optimal sliding surface gain. The performance and robustness, smoothness of cont...

This paper presents a nonlinear control for trajectory tracking and vibration control of a flexible joint manipulator by using chaotic gyroscope synchronization. To study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. Based on Lyapunov stability theory, the nonlinear controller and some generic sufficient ...