Two-wheeled mobile robots (2WMRs) with lower center of gravity exhibit more practicality and operability because their mass center locates on the bottom of the configuration center. By analyzing motion behaviors of the vehicle body, we present the underactuated property and give the dynamics equation of this kind of robot. The system matrices and nonholonomic constraint change drastically becau...

Disturbance-observer-based control (DOBC) has been considered as a robust control scheme against the various unknown disturbances in many applications The existing DOBC methods were only applicable for the case where disturbances satisfy time matching condition, i.e., they enter the system in the same time as the control inputs. By appropriately designing a auxiliary observer, the disturbance o...

This paper deals with the modeling and control of a microgripper devoted to micromanipulation and microassembly applications and tasks. Based on two collaborative piezoelectric actuators, the microgripper is typified by a high sensitivity to the environment, in particular a high sensitivity to the properties of the manipulated objects. This sensitivity makes the behavior of the microgripper var...

Automatic water level control methods for open channels have difficulties to keep good performances for a large range of flow and significant unknown disturbances. A new concept called Model-Free Control is applied in this paper for hydroelectric run-of-the river power plants. To modulate power generation, a level trajectory is planned for cascaded power plants. Numerous dynamic simulations sho...

Abstract: This paper proposes a new concept of robust control – Model Bridge Control (MBC). The MBC is a multi-degree of freedom control based on the model bridge principle (MBP) that the gaps between objects and achievements are bridged by individual models. The key of MBC is the error compensation by the model which covers both gain and phase of the error. This breaks through the tradeoff bet...

In this paper an integrated robust identification and control design procedure is proposed. The plant to be controlled is supposed to be linear, time invariant, stable, possibly infinite dimensional and a set of noisecorrupted input–output measurements is supposed to be available. The emphasis is placed on the design of controllers guaranteeing robust stability and robust performances, and on t...

speaker verification from talking a few words of sentences has many applications. many methods as dtw, hmm, vq and mq can be used for speaker verification. we applied mq for its precise, reliable and robust performance with computational simplicity. we also used pitch frequency and log gain contour for further improvement of the system performance.

performance budgeting has been an important theme of public expenditure management for decades. in the 1990s, however, a new wave of enthusiasm for performance budgeting began to sweep through governments. in recent years, however, the level of interest in organizational use of performance-based budgeting re-emerged with more details and support from researchers and practitioners. performance-b...

in this paper a new strategy is proposed to design a fixed-structure robust controller for a flexible beam.  robust controller designed by the conventional  loop­ shaping method is not appropriate for a beam because of its high order and complicated form. fixed-structure  loop shaping control in conjunction with particle swarm optimization (pso)algorithm  is used to overcome this drawback. the ...