Carrying out an autonomous object prehension task, needs some active interaction with the environment, which only could be done with sensory integration on the robot tools. A study of the contact force control performed with tactile feedback in a low cost servo-controlled parallel jaw gripper is presented in this article. This gripper integrates matricial tactile sensors and proximity sensors. ...

We investigated the possibility of applying a hybrid feed-forward inverse nonlinear auto-regressive with exogenous input (NARX) fuzzy model-PID controller to a nonlinear pneumatic artificial muscle (PAM) robot arm to improve its joint angle position output performance. The proposed hybrid inverse NARX fuzzy-PID controller is implemented to control a PAM robot arm that is subjected to nonlinear ...

Model predictive control (MPC) has become an important area of research and is also an approach that has been successfully used in many industrial applications. In order to implement a MPC algorithm, a model of the process we are dealing with is needed. Due to the complex hybrid and nonlinear nature of many industrial processes, obtaining a suitable model is often a difficult task. In this pape...

Cycle-linear hybrid automata (CLHAs), a new model of excitable cells that efficiently and accurately captures action-potential morphology and other typical excitable-cell characteristics such as refractoriness and restitution, is introduced. Hybrid automata combine discrete transition graphs with continuous dynamics and emerge in a natural way during the (piecewise) approximation process of any...

This paper proposes a three-step method for solving nonlinear Volterra integralequations system. The proposed method convents the system to a (3 × 3)nonlinear block system and then by solving this nonlinear system we ndapproximate solution of nonlinear Volterra integral equations system. To showthe advantages of our method some numerical examples are presented.

Nonlinear systems, whose outputs are not directly proportional to their inputs, are well known to exhibit many interesting and important phenomena that have profoundly changed our technological landscape over the last 50 years. Recently, the ability to engineer quantum metamaterials through hybridization has allowed us to explore these nonlinear effects in systems with no natural analog. We inv...

In this paper, the new hybrid adaptive Volterra filter was proposed to be applied for compensating the nonlinear distortion of memoryless nonlinear systems with saturation characteristics. Through computer simulations as well as the analytical analysis, it could be shown that it is possible for both conventional Volterra filter and proposed Volterra filter, to be applied for linearizing the mem...

In this paper, we first introduce a class of nonlinear mappings called extended hybrid in a Hilbert space containing the class of generalized hybrid mappings. The class is different from the class of super hybrid mappings which was defined by Kocourek, Takahashi and Yao [12]. We prove a fixed point theorem for generalized hybrid nonself-mapping in a Hilbert space. Next, we prove a nonlinear erg...

Reference Governor for Constrained Nonlinear Systems Alberto Bemporad Abstract| This note addresses the problem of satisfying pointwise-in-time input and/or state hard constraints in nonlinear control systems. The approach is based on conceptual tools of predictive control and consists of adding to a primal compensated nonlinear system a Reference Governor (RG). This is a discrete-time device w...