In this paper, we propose a robust self-triggered real-time scheduling strategy for stabilization of passive or output feedback passive systems under unstructured uncertainties and in the presence of non-trivial actuation update delays. We assume that the unstructured uncertainty is a L2 stable dynamic system in a feedback or feedforward interconnection with the model of the plant, we took the ...

Conventional virtual coupling is designed mainly for stabilizing the virtual environment (VE) and it thus may have poor performances. This paper proposes a novel adaptive virtual coupling design approach for haptic display in passive or time-delayed non-passive virtual environment. According to the performance errors, the virtual coupling can be adaptively tuned through some fuzzy logic based l...

Present work aims at developing an active suspension for a passenger car by designing a controller using linear quadratic optimal control theory, based on two different control approaches [conventional method (CM), acceleration dependent method (ADM)]. Performance of the active suspension system of a quarter car model with 3 degrees-of-freedom with two control approaches has been compared with ...

Chapter 3 presents ANN based adaptive shunt passive filter, whose performance is found to be superior to fixed element shunt passive filter in harmonic and reactive compensation. However, the drawback is that it can provide only partial harmonic and reactive power compensation. Hence, an ANN based digital controller for active filter is developed. It compensates for the major portion of source ...

To compensate for heave motion, which has an adverse impact on the response of a drill-string or a riser, passive and active devices are usually used. Active heave compensators, whose control system is an essential part, allow conducting operations under more extreme weather conditions than passive ones. This paper presents a constructive method to design a nonlinear controller for an active he...

-The performance of fuzzy logic (FLC) and PID controllers optimized by particle swarm optimization (PSO) for semi-active suspension system using magneto-rheological (MR) damper are investigated. MR damper is an intelligent damper filled with particle magnetic polarizable and suspended into a liquid form. The Bouc-Wen model of MR damper is used to determine the required damping force based on fo...

This is the first part of a two-part paper on the design of intelligent controllers for a class of exercise machines. The control objective is to cause the user to exercise in a manner which optimizes a criterion related to the user’s mechanical power. The optimal exercise strategy is determined by a biomechanical behavior of the individual user, which is assumed to satisfy an affine force–velo...

This paper proposes a novel and an affordable lower limb prosthesis to enable normal gait kinematics for trans-femoral amputees. The paper details the design of a passive prosthesis with magneto-rheological (MR) damping system and electronic control. A new control approach based on plantar insole feedback was employed here. Strategically placed sensors on the plantar insole provide required inf...

Compliance is an important feature for service robots but also for robots in industrial applications to increase human machine interaction safety. While active compliance is online adaptable and easy to control its dynamic response is determined by the sampling rate and the response rate of the controller. In contrast, passive compliance is inherent to the system. It responds naturally fast to ...

The present work demonstrates a fibre-laser system with automatic electronic-controlled triggering of dissipative soliton generation mode. Passive mode locking based on the effect of non-linear polarisation evolution has been achieved through a polarisation controller containing a single low-voltage liquid crystal plate whose optimal wave delay was determined from analysis of inter-mode beat sp...