This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. the problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

Many real time processes have complex, uncertain and nonlinear dynamics. Boilers are nonlinear, time varying, multi-input multi-output (MIMO) systems, whose states generally vary with operating conditions. The major problem in controlling that system is that its drum water pressure and steam flow dynamics include an integrator that results a critically stable behavior. Conventional controller p...

in this paper robust pid control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. in dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. to develop the idea of control for cable robots with elastic cables, a robust pid control for cable driven robots with ideal rigid cables is firstly de...

In this paper we generalize a one-dimensional optimal control problem with DNSS property to a two-dimensional optimal control problem. This is done by taking the direct product of the model with itself, i.e. we combine two similar system dynamics under a joint objective functional that is separable in both states and controls. This framework can be applied to the construction of various optimal...

In this paper modelling and identification of a laboratory helicopter with the final aim to design a control system is presented. The CE 150 made by Humusoft is a laboratory helicopter designed for studying system dynamics and control engineering principles. First, the helicopter set-up is depicted. Next, theoretical and empyric modelling is systematically described. Identification of the neces...

Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...

In this work, a new control scheme for synchronization of AC microgrids with upstream power grid is presented. The effects of V2Gs (vehicle to grid) dynamics on synchronization process is studied. This new control approach is based on the optimal fractional calculus and has been developed for synchronization of the microgrid. The V2Gs effect on the dynamics of the microgrid is analyzed through ...