In this paper, an approach to design an Admissible Model Matching (AMM) Fault Tolerant Control (FTC) based on Linear Parameter Varying (LPV) fault representation is proposed. The main contribution of this approach is to consider the fault as a scheduling variable that allows the controller reconfiguration online. The fault is expressed as a change in the system dynamics (in particular, in the m...

In this paper, we solve the tracking and disturbance rejection problem for fully actuated passive mechanical systems. We assume that the reference signal r and its first two derivatives ṙ, r̈ are available to the controller and the disturbance signal d can be decomposed into a finite superposition of sinewaves of arbitrary but known frequencies and an arbitrary L2 signal. We combine the internal...

In robotic tasks where the manipulator has to make transition from free space motion to constrained one, there always exists a inevitable phase transition. A number of controllers have been proposed in the literature with various discussions on their practical implications. In this paper for the rst time a novel framework for studying design of controllers for robotic contact tasks problem is p...

In this paper, a new biomimetic tendon-driven actuation system for prosthetic and wearable robotic hand applications is presented. It is based on the combination of compliant tendon cables and one-way shape memory alloy (SMA) wires that form a set of agonist–antagonist artificial muscle pairs for the required flexion/extension or abduction/adduction of the finger joints. The performance of the ...

This study developed a hybrid self-organizing fuzzy and radial basis-function neural-network controller (HSFRBNC) for active suspension systems. The HSFRBNC uses a radial basis function neural-network to adjust the learning rate and the weighting distribution of a self-organizing fuzzy controller (SOFC) in real time, as an alternative to obtain these parameters through trial and error. Therefor...

A fully active suspension and preview control is utilized to improve ride comfort, which allows increased travelling speed over rough terrain. Previous research is extended and the relevant implementation issues are addressed. Specifically, the methodology of model predictive control has been applied to explicitly address suspension saturation constraints, suspension rate limits, and other syst...

The attitude coordination control problem for formation flying spacecraft associated with time-varying reference attitude tracking subject to control input saturation is investigated in this paper. According to different cases, three kinds of continuous and bounded coordination controllers are proposed. With the use of hyperbolic tangent functions, a fundamental controller is presented for an i...

An acrobot is a planar robot with a passive actuator in its first joint. The control problem of the acrobot tries to make it rise from the rest position to the inverted pendulum position. This control problem can be divided in the swing-up problem, when the robot has to rise itself through swinging up as a human acrobat does, and the balancing problem, when the robot has to maintain itself on t...

This paper presents passive boost converter fed three phase switched reluctance motor using PI Controller. The operating mode of proposed converter circuit is discussed. The proposed converter is capable of minimizing the torque ripple because of faster excitation and demagnetization and also improving the average torque compared to the conventional converter circuit. The objective of this pape...

This paper studies the problem of modeling and control of multiple cooperative underactuated manipulators handling a rigid object. A single underactuated manipulator is a nonholonomic system in most cases, but cooperative underactuated manipulator systems may not. We reveal holonomic property of such a system by presenting a smooth feedback controller subject to two conditions: 1) there are not...