Actuators in a robot system may become faulty during their life cycle. Locked joints, free-moving and the loss of actuator torque are common types joints where actuators fail. joint issues addressed by many published articles, whereas still opens attractive investigation challenges. The objectives this study to classify torque, named degradation, into three different cases: Boundary degradation...

In this study, modeling and LQR control of a reaction wheel inverted pendulum system is described. The model created by using 3D CAD platform exported to Simscape Multibody. multibody linearized derive state-space representation. A (Linear-quadratic regulator) controller designed applied for balance the pendulum. results show that deriving representation from an easy effective way dynamic syste...

This letter addresses the problem of voltage regulation and balanced current sharing in a parallel connection heterogeneous DC-DC converters common ZIP (constant impedance, constant current, power) load. To this end, distributed dynamic control approach is developed. The proposed does not rely on load profile number active converters. describes theoretical aspects rigorous Lyapunov-based stabil...

En este trabajo se presenta un prototipo virtual para la detección de fugas agua potable en sistema tuberías desarrollado MATLAB y Simscape. Se parametrizaron los equipos con características proporcionadas por fabricantes tener comportamiento apegado a real. El integró tanque almacenamiento, una bomba centrífuga recircular el agua, transmisores flujo presión, así como seis válvulas control simu...

In this study, a Fractional-Order Sliding Mode Control scheme is proposed for trajectory tracking control of Delta parallel robot. The controller compared with both integer-order Proportional-Derivative and Controller Computed Torque method. forward kinematics, inverse kinematics dynamic robot are described. A Solidworks/Matlab/SimScape/Multibody model generated used parameter estimation valida...

This paper proposes a software benchmark tool for the Quanser “3 DOF Helicopter” in the Mathworks Simscape environment, based on a multi-body model of the experimental setup. The proposed benchmark tool takes into account a number of implementation features of the experimental setup and aims at providing a tool for simulative validation and performance analysis of control strategies. Along with...

Inconsistencies that are associated with parallel-connected cells used in electric vehicles induce varied states of charge (SOCs) in each cell. Thus, loop current in the battery pack is inevitable, and this reduces overall capacity, energy utilization rate, and pack lifetime. However, no method is available to address loop current. To reduce loop current and the resulting battery inconsistency,...