In this paper, a robust adaptive actuator failure compensation control scheme is proposed for a class of multi input multi output linear systems with unknown time-varying state delay and in the presence of unknown actuator failures and external disturbance. The adaptive controller structure is designed based on the SPR-Lyapunov approach to achieve the control objective under the specific assump...

Sensor application requirements vary tremendously, ranging from densely deployed habitat-monitoring setup to the real-time constrained military applications. This paper presents the design of a novel self-organizing framework for SANETs (Sensor and Actuator Networks). We assume two wireless interfaces at the actuator nodes, one to communicate with sensor nodes, and the other, for the neighborin...

Massive actuator arrays found their applications in robotics, pharmaceutics, aerospace, etc. Compared with electrically and/or pneumatically powered actuator array, hydraulic actuator has the comprehensive advantages of higher force density (i.e. force / actuation area), better controllability, and simpler remote control accessibility. This paper presents approaches to construct and control a m...

A new diaphragm actuator based on the ferromagnetic shape memory alloy (FSMA) composite is designed where the FSMA composite is composed of ferromagnetic soft iron and superelastic grade of NiTi shape memory alloy (SMA). The actuation mechanism for the FSMA composite plate of the actuator is the hybrid mechanism that we proposed previously. This diaphragm actuator is the first design toward des...

This article details the SFX-EH architecture for handling sensing failures in autonomous mobile robots. The SFX-EH uses novel extensions to the generate-and-test method to classify failures with only a partial causal model of the sensor/environment/task interactions for the robot. The generate-and-test methodology exploits the ability of the robot as a physically situated agent to actively test...

Electro-hydraulic servo actuator (EHA) system consists of several dynamic parts which are widely used in motion control application. These dynamic parts need to be controlled to determine direction of the motion. In this research paper, system identification technique is used for system modeling and the model of the system is estimated by using parameter estimation technique. This process start...

An intelligent diagnostic scheme using sensor network for incipient faults is proposed using a holistic approach which integrates model-, fuzzy logic-, neural networkbased schemes. In case the system is highly non-linear and there are enough training data available, a neural network based scheme is preferred; where the rules relating the input and output can be derived, a Fuzzy-logic approach i...

Recent years have witnessed the proliferation of a new class of devices, commonly referred to as Networked Embedded Devices. Their increasingly low cost and small size make them suited for large scale sensing applications. Likewise, they could be appealing as a means to embed intelligent actuation capabilities into the environment, turning simple artifacts into networked robotic appliances. The...

Intelligent systems are systems that can perceive, create action, and learn in an autonomous fashion, i.e., without external supervisory intervention for an extended amount of time. Figure 1 depicts a generic control diagram for such systems. There is a system to be controlled, i.e., the “control system” which lives in a particular, potentially stochastic, environment. Both the control system a...

Recent developments in millimeter-scale fabrication processes have led to rapid progress towards creating airborne flapping wing robots based on Dipteran (two winged) insects. Previous work to regulate forces and torques generated by flapping wings has focused on controlling wing trajectory. An alternative approach uses underactuated mechanisms with tuned dynamics to passively regulate these fo...