A direct adaptive nonlinear tracking control framework for multivariable nonlinear uncertain systems with actuator amplitude and rate saturation constraints is developed. To guarantee asymptotic stability of the closed-loop tracking error dynamics in the face of amplitude and rate saturation constraints, the adaptive control signal to a given reference (governor or supervisor) system is modifie...

Recent research has indicated that using the mobility of the actuator in wireless sensor and actuator networks (WSANs) to achieve mobile data collection can greatly increase the sensor network lifetime. However, mobile data collection may result in unacceptable collection delays in the network if the path of the actuator is too long. Because real-time network applications require meeting data c...

The potentially significant impact that the design of a process plant can have on its ability to be satisfactorily controlled has led to the development of integrated formulations in which dynamic performance requirements are included as constraints within an optimal design framework. Failure to account for the dynamic operation of a process could lead to reduced profits or even safety and envi...

This papers considers the problem of fault tolerance with respect to actuator failures. Accommodation and reconfiguration strategies are presented, and the system reconfigurability is analysed under possible energy limitation constraints.

abstract: this paper presents dynamic modelling and control of a linear prismatic series of elastic actuator. the capability of generating large torques is why this actuator is increasingly used in human-assistive robotic systems. due to having human in the loop, the actuator requires precise control. a fractional pid controller known for its improved performance is used for the control, due to...

This article is devoted to real-time optimal attitude reorientation control of rigid spacecraft control. Particularly, two typical practical problems—actuator misalignment and forbidden pointing constraints are considered. Within the framework adaptive dynamic programming (ADP), a novel constrained scheme proposed.In this design, special reward function developed characterize environment feedba...

Cycle time minimization is one of the major goals to achieve in manufacturing. Maximizing feedrate direct solution; however, physical motions need be under specified motion limits avoid high-frequency vibration, causing machining error. In this paper, a time-optimal scheduling approach with corner smoothing for 5-axis G1 toolpaths presented machining. One key feature proposed method describe or...

We consider the problems of kinematic and dynamic constraints, with actuator saturation and wheel slippage avoidance, for motion planning of a holonomic three-wheeled omni-directional robot. That is, the motion planner must not demand more velocity and acceleration at each time instant than the robot can provide. A new coupled non-linear dynamics model is derived. The novel concepts of Velocity...

The technique used to control the airflow is based on the electro-hydrodynamic actuator which is also called plasma actuator. This actuator ensures the airflow control thanks to the electric wind created by the electrical corona discharge. This ionic wind is developed at the profile surface tangential to the initial free airflow so that it has a significant effect on the boundary layer flow. Th...