This paper is one of two joint papers, each presenting a different representation of a feedforward neural network. Here a discrete-time polytopic quasi linear parameter varying (LPV) model of a nonlinear system based on a neural state-space model is proposed, whereas in the joint paper (Abbas andWerner [2008]) a neural state-space model is transformed into a linear fractional transformation (LF...

In this paper, motion control of electrical driven free floating space manipulator is considered.The dynamics of the free-floating space manipulator are derived based on Virtual Manipulator Approach(VMA),which allows us to develop controller in joint space. Then a proportional plus derivative feedback control system with disturbance observer(DOB)are employed to compensate joint coupling,unmodel...

Space manipulators mounted on an on-o thrustercontrolled base are envisioned to assist in the assembly and maintenance of space structures. When handling large payloads, manipulator joint and link exibility become important, for they can result in payload-attitude controller fuel-replenishing dynamic interactions. In this paper, the dynamics model of an Nexible-joint space manipulator is develo...

The singular perturbation approach has been shown to be successful in controlling both  exible link manipulators and  exible joint manipulators. In this paper, the technique is extended to control both link and joint  exibility of a multilink manipulator simultaneously while a desired trajectory is being tracked. A comprehensive, closed-form, Euler–Lagrange, assumed-mode model of a multilink...

Robot manipulators are highly coupled nonlinear systems, therefore real system and mathematical model of dynamics used for control system design are not same. Hence, fine-tuning of controller is always needed. For better tuning fast simulation speed is desired. Since, Matlab incorporates LAPACK to increase the speed and complexity of matrix computation, dynamics, forward and inverse kinematics ...

Robot manipulators are highly coupled nonlinear systems, therefore real system and mathematical model of dynamics used for control system design are not same. Hence, fine-tuning of controller is always needed. For better tuning fast simulation speed is desired. Since, Matlab incorporates LAPACK to increase the speed and complexity of matrix computation, dynamics, forward and inverse kinematics ...

Robot arms require an "arm controller" to command joint motors to achieve a coordinated motion in an external Cartesian coordinate space. In the same sense, robot vehicles require a "vehicle controller" to command the motors to achieve a coordinated motion specified in terms of an external Cartesian coordinate space. This paper presents the design of a general purpose vehicle controller. The ve...

In this paper, theoretical and experimental implementation of heave compensation on a redundant hydraulically actuated manipulator with 3-dof has been carried out. The redundancy is solved using the pseudo-inverse Jacobian method. Techniques for minimizing velocities and avoiding mechanical joint saturations is implemented in the null space joint motion. Model based feed-forward, combined with ...

Functional electrical stimulation (FES) is the most commonly used system for restoring function after spinal cord injury (SCI). In this study, we used a model consists of a joint, two links with one degree of freedom, and two muscles as flexor and extensor of the joint, which simulated in MATLAB using SimMechanics and Simulink Toolboxes. The muscle model is based on Zajac musculotendon actuator...