In this paper standing balance control of a biped with toe-joint is presented. The model consists of an inverted pendulum as the upper body and the foot contains toe-joint. The biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. To model the interaction between foot and the ground, configuration constraints are defined and utilized. To s...

In this paper, we study the local stabilization of nonlinear systems with uncertain equilibrium states and in presence actuator constraints. We propose a derivative feedback control scheme to stabilize system, drive system its true state even when location such is uncertain. Actuator constraints are also considered stability conditions derived for cases output energy bounded, subject saturation...

This paper addresses the design of position tracking control of mechanical systems with classical nonholonomic constraints incorporating actuator dynamics. An adaptive controller is designed at the actuator level and the controller guarantees that the configuration state of the system tracks the desired trajectory. A detailed numerical example is presented to illustrate the developed method.

In this paper, a reconfigurable control strategy is proposed for state synchronization and tracking control of networked (electro-) mechanical Euler-Lagrange (EL) systems that are subject to input saturation constraints that may arise due to actuator faults or failures. The reconfigurable controller consists of three main parts. The first part, known as the nominal controller, is a distributed ...

A semi-active control strategy for suspension systems of passenger cars is presented employing Magnetorheological (MR) dampers. The vehicle is modeled with seven DOFs including the, roll pitch and bounce of car body, and the vertical motion of the four tires. In order to design an optimal controller based on the actuator constraints, a Linear-Quadratic Regulator (LQR) is designed. The design pr...

This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators. Our controller considers the natural saturation problem given by the output of the control computer, the saturation phenomena of the internal PI velocity controller in the servo driver, and the actuator torque constraints of the robot manipulator. An approach based on the singular perturbations method is ...

This work proposes an adaptive trajectory planning approach for a single quad-rotor unmanned aerial vehicle (UAV). The objective is to drive the system from an initial position to a final one without hitting actuator constraints while minimizing the total time of the mission. The approach employs differential flatness to represent the control inputs to be applied in function of the desired traj...

This paper is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertaintie...

The paper investigates the design of a field programmable gate array based custom computer architecture solution for implementing model predictive control. The solution employs a primal logarithmic-barrier interior-point algorithm in order to handle actuator constraints. The solution also incorporates practical aspects of a control algorithm including state observation and data sampling. The re...