The past decade has seen an increase in the use of smart materials in actuator design, notably for inclusion in active structures such as noise-reducing paneling or vibration-controlled buildings. Materials such as shape memory alloys (SMAs), piezoceramics, magnetostrictives and others all offer exciting new actuation possibilities. However, all of these materials present an interesting control...

In this paper, a robust PID control scheme is proposed for Micro-Electro-Mechanical-Systems (MEMS) optical switches. The proposed approach is designed in a way which solves two challenging and important problems. The first one is successful reference tracking and the second is mitigating the system nonlinearities. The overall system composed of nonlinear MEMS dynamics and the PID controller is ...

The level adjustment of cable-driven parallel mechanism is challenging due to the difficulty in obtaining an accurate mathematical model and the fact that different sources of uncertainties exist in the adjustment process. This paper presents application of an adaptive passivity-based control scheme for a cable suspended robot to handle disturbance and uncertainties in mass and moments of inert...

Abstract— Time domain passivity control can be used to stabilize the time-delayed teleoperation by considering the communication channel as an active component and to design passivity controllers for it using recursive prediction of slave side energy. However the control actions by these passivity controllers result in large impulses thus degrading the performance of teleoperator. Energy deriva...

In this paper, a robust PID control scheme is proposed for Micro-Electro-Mechanical-Systems (MEMS) optical switches. The proposed approach is designed in a way which solves two challenging and important problems. The first one is successful reference tracking and the second is mitigating the system nonlinearities. The overall system composed of nonlinear MEMS dynamics and the PID controller is ...

This paper considers the vision-based estimation and pose control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After ...