1 Grad. stud., Univ. of Michigan (UM) & intern, United Tech. Res. Center (UTRC). 2 Research eng., UTRC. 3 Prof., UM. ABSTRACT This paper studies the combined optimization of an elevator’s design (plant) and LQG controller for ride comfort. Elevator dynamics and primary vibration sources (drive motor torque ripple and guide rail irregularity) are modeled using an object-oriented language. The re...

Autonomous guidance of agricultural vehicles is vital as mechanized farming production becomes more prevalent. It is crucial that tractor-trailers are guided with accuracy in both lateral and longitudinal directions, whilst being affected by large disturbance forces, or slips, owing to uncertain and undulating terrain. Successful research has been concentrated on trajectory control which can pr...

Ankle Foot Orthoses is a supportive equipment attached to the lower part of the leg to support patient’s walking posture, gait. It has been developed for several years using many kinds of actuator that can be controlled electronically. In this paper, a controller development for Passive Control Ankle Foot Orthoses is presented. A Fuzzy Logic Controller is proposed to control the system due to i...

An automated recovery system is a key component in a large data center. Such a system typically employs a hand-made controller created by an expert. While such controllers capture many important aspects of the recovery process, they are often not systematically optimized to reduce costs such as server downtime. In this paper we describe a passive policy learning approach for improving existing ...

By using the energy dissipation theory and the property of the switched reluctance motor, this paper presents a nonlinear controller for the planar switched reluctance motors (PSRM). Based on the fact that the electrical time constant is much smaller than the mechanical time constant, the whole PSRM driving system is treated as a two-time-scale system and can be decomposed into two subsystems (...

In the present paper, active control system is used in different heights of the building and the most effective part was studied where the active control system is applied. The mathematical model of the building is established in MATLAB and in order to active control the system FLC method was used. Three different locations of the building are chosen to apply active control system, namely at th...

This paper proposes a sliding-mode controller to ensure both the global stability and maximum power generation of photovoltaic system based on flyback converter. The is an adaptive sliding-surface, which designed impose constant frequency switching converter, thus simplifying selection passive active elements device. Moreover, analyzed using transversality, reachability equivalent control condi...

A passive control scheme for the bilateral teleoperation of an electrohydraulic actuator and a motorized joystick is proposed. The overall system enables a human operating a motorized joystick to feel as if he is manipulating a rigid mechanical tool with which the work environment is also in contact. By ensuring that the closed loop system behaves like a passive two port device, safety and stab...

When infants first begin to sit independently, they are highly unstable and unable to maintain upright sitting posture for more than a few seconds. Over the course of 3 months, the sitting ability of infants drastically improves. To investigate the mechanisms controlling the development of sitting posture, a single-degree-of-freedom inverted pendulum model was developed. Passive muscle properti...