نتایج جستجو برای: back stepping controller

تعداد نتایج: 225733  

2001

This paper deals with the use of artificial neural networks employed as an on-line trained controller for a real process and simulation model control. Well-known back-propagation method is used as a learning algorithm intended to minimize the difference between the plant’s actual response and the desired reference signal. The influence of neural network’s parameters on a controlled plant output...

Journal: :Meccanica 2021

Compliance is a strong requirement for human–robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, control them very challenging given their intrinsic complex motions. Therefore, soft-robots require new approaches e.g., modeling, control, dynamics, and planning. One strategies that ensures impedance control. During ...

پایان نامه :وزارت علوم، تحقیقات و فناوری - دانشگاه صنعتی اصفهان - دانشکده برق و کامپیوتر 1385

استفاده از موتور رلوکتانس سوئیچ شونده، دلیل ساختار ساده، ارزان قیمت بودن، قابلیت کار در سرعت های بالا و نیز پیشرفت در تکنولوژی نیمه هادی ها، در لوازم خانگی و صنعت پیشرفت چشم گیری داشته است. نوتور رلوکتانس سوئیچ شونده دارای طبیعتی به شدت غیر خطی است و این امر گشته که کنترل این موتور با دشواری های بسیاری همراه گردد. از طرفی وجود نامعینی در پارامترهای سیستم از جمله مقاومت، اندوکتانس، اینرسی و بار ...

Journal: :Robotics and Autonomous Systems 2004
Josep M. Porta Enric Celaya

We present a reactive controller that is able to displace a legged robot along an arbitrary trajectory with a high degree of accuracy. We designed the different modules of our controller so that they can deal with arbitrary leg configurations. In this way, any leg movement necessary to overcome unexpected terrain irregularities can be correctly compensated by the controller, while still followi...

Journal: :IEEE Robot. Automat. Mag. 1998
Yasutaka Fujimoto Atsuo Kawamura

| This autonomous biped walking control system is based on the reactive force interaction at the foothold. The precise 3D (three dimensional) dynamic simulation presented includes: 1) a posture controller which accommodate the physical constraints of the reactive force/torque on the foot by quadratic programming. 2) a real-time COM (center of mass) tracking controller for foot placement, with a...

Journal: :Transactions of the Society of Instrument and Control Engineers 2013

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