in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

In this paper, a method is introduced which reduces the harmonicdistortion of the inverter output current, connecting the fuelcell to the AC load. Using FUZZY LOGIC-PI (FLPI), the controllingmethod is engaged in optimum tuning of the PI controllercoefficients of this converter. This converter has only one DC-ACboost inverter and simultaneously has the task of increasingvoltage level and generat...

A Reliability-Based Design Optimization (RBDO) framework is presented that accounts for stochastic variations in structural parameters and operating conditions. The reliability index calculation is itself an iterative process, potentially employing an optimization technique to find the shortest distance from the origin to the limit-state boundary in a standard normal space. Monte Carlo simulati...

Unstructured off-road environments with complex terrain obstacles and pavement properties bring obvious challenges for special purpose autonomous vehicle control. A cascade direct yaw moment control strategy (CDYC), which contains a main loop servo loop, is proposed to enhance the accuracy stability of an independent eight in-wheel motor-driven rear-wheel steering (8WD/RWS). In double PID contr...

In this paper, we propose a fault tolerant control law for morphing quadrotor, where the considered ability is that of extendable/telescopic arms. This quite recent class systems able to provide good trade-off between payload capabilities, maneuverability, and space occupancy. However, such degrees freedom require dedicated servomotors, which in turn implies more possible faults. Thus, problem ...

Automation of grinding of metalcastings is desirable for many reasons. The major reasons are dangerous working conditions, low productivity, and inconsistency in human operations. As an approach to the automating grinding process, a gantrydriven grinding machine is proposed to manipulate an industrial hand grinder and control the grinding force applied to the work piece. To increase the materia...

This paper aims to develop a driver steering model that can capture driver’s key steering mechanisms from a control engineering point of view. Analyses with Double Lane Change (DLC) vehicle test data suggest that, instead of following the traditional concept of trajectory planning, drivers use target points located along the centerline of the lane they are changing to as references for control....

Abstract: Addressing the simulating issue of the helicopter-manipulating booster aerodynamic load with high-frequency dynamic load superimposed on a large static load, this paper studies the design of the robust controller for the electro-hydraulic loading system to realize the simulation of this kind of load. Firstly, the equivalent linear model of the electro-hydraulic loading system under as...

This paper, firstly in accordance with the engineering design method, PID controller are used to control the current loop and speed loop common on double closed-loop DC converter, and build dual-loop PID control model, and Matlab’s emulation to model, as well as analysis and evaluate the structural of the simulation. Because conventional PID control can not meet the parameters of the controlled...