The composite nonlinear feedback control tec hnique is developed for a class of linear systems with actuator saturation, which consists of a linear and a nonlinear feedback parts without any switching element. The linear part is to yield a quick response in face of the actuator limits for the desired input levels. The nonlinear part is to reduce the overshoot caused by the linear part as the sy...

Electroactive Polymers (EAPs) have a great potential to provide smart solutions to engineering problems in fields such as robotics, medical devices, power generation, actuators and sensors. This is because they yield some important characteristics that are advantageous over conventional types of actuators, like: lower weight, faster response, higher power density and quieter operation. Controll...

This paper presents a recent self-sampled-data control algorithm applied to nonlinear systems with actuator failures. Our approach uses the linear model of a given nonlinear system, and based on a granted actuator fault observer method, an asynchronous sampled-data fault compensator controller is then formulated. The proposed sampling rule is realized by using an event-detector monitoring signa...

In a general DIARC framework [13], the emphasis is always on the guaranteed transient performance and accurate trajectory tracking in the presence of uncertain nonlinearity and parametric uncertainties along with accurate parameter estimation for secondary purpose such as system health monitoring and prognosis. Need for accurate parameter estimation calls for the use of Least Square Estimation ...

The suspension system has the role of regulating and extinguishing oscillations in vehicle. To improve stability comfort, active is proposed to replace passive system. There are many algorithms used for control, such as PID, LQR, Fuzzy, etc. Among them, nonlinear control method which uses SMC algorithm gives a stable performance. This research proposes use operation equipped with quarter dynami...

Electro-hydraulic systems with regards to the their specific features and applications among other industrial systems including mechanical, electrical and pneumatic systems, have been widely taken into consideration by the scientists and researchers. Due to the fact that the electro-hydraulic system is inherently a nonlinear system, has some problems such as signals saturation, nonlinear effici...

Conventional hydraulic actuator (CHA) systems have been widely used as power units because they can generate very large power compared to their size. In general, a CHA system consists of an electric motor, a pump, a reservoir, various valves, hoses, which are used to transfer the working fluid and an actuator. CHA systems, however, have some problems such as environmental pollution caused by th...

An adaptive robust approach for actuator fault-tolerant control of a class of uncertain nonlinear systems is proposed. The two chief ways in which the system performance can degrade following an actuator-fault are undesirable transients and unacceptably large steady-state tracking errors. Adaptive control based schemes can achieve good final tracking accuracy in spite of change in system parame...

Ionic polymer metal composite is a class of electro-active polymers which are very attractive smart actuators due to its large bending deflection, high mechanical flexibility, low excitation voltage, low density, and ease of fabrication. These properties make IPMC a proper candidate for many applications in various fields such as robotics, aerospace, biomedicine, etc. Although the actuation beh...

Series elastic actuators have a spring intentionally placed at the actuator output. Measuring the spring strain gives an accurate measurement for closed-loop actuator force control. The low spring stiffness allows for high control gain while maintaining actuator stability. This gives series elastic actuators many desirable properties including high bandwidth at moderate force amplitudes, low ou...