The challenging control problem of the cable driven redundant manipulators is due to the complexity of its dynamic and the required stringent performance for the its promising applications. This paper presents an approach to the control of the KNTU CDRPM using an adaptive cascade control scheme. The goal in this approach is achieving accurate trajectory tracking while assuring positive tension ...

In applying nonlinear model-predictive control to fast unstable systems, the main difficulty is that the optimization cannot be finished within one sampling interval. To solve this problem, a cascade-control scheme has been proposed, where input-output feedback linearization forms the inner loop and nonlinear predictive control the outer loop. Thus, the nonlinear predictive control has to handl...

The effects of compressor aerodynamic parameters, such as pitch-chord ratio, aspect ratio, and fillet, on the cascade performance have been studied in this paper. Slot configuration at the root of the blade has been proved to be an efficient passive control method for the corner separation control in compressor cascade. The combined effects of the pitch-chord ratio, aspect ratio, and blade fill...