The work described in this paper is focused on the reduction of the impact force exerted by the ground on a falling humanoid robot. It proposes the use of a variable stiffness in the arms's motors to prevent damages. The proposed work is applicable when the falling prevention techniques fail or when falling is unavoidable. This work proposes the generation of variable stiffness in a motor throu...

The paper shows that the digital proportional-integral-plus (PIP) controller formulated within the context of non-minimum state space (NMSS) control system design methodology is directly equivalent, under certain non-restrictive pole assignment conditions, to the equivalent digital Smith predictor (SP) control system for time delay systems. This allows SP controllers to be considered within the...

this paper presents a new strategy based on multi-stage fuzzy (msf) pid controller based on artificial bee colony (abc) for damping power system stabilizer (pss) in multi-machine environment. the recent studies in artificial intelligence demonstrated that the abc optimization is strong intelligent method in complicated stability problems. also, finding the parameters of pid controller in power ...

In this paper, novel small-signal averaged models for DC-DC converters operating at variable switching frequency are derived. This is achieved by separately considering the ontime and the off-time of the switching period. The derivation is shown in detail for a synchronous Buck converter and the model for a Boost converter is also presented. The model for the Buck converter is then used for the...

Maximization of the fuel economy of the lean burn spark ignition (SI) engine strongly depends on precise air-fuel ratio control. A great challenge associated with the air-fuel ratio feedback control is the large variable time delay in the exhaust system. In this paper, a systematic development of an air-fuel ratio controller based on post lean NOx trap (LNT) oxygen sensor feedback using linear ...

This paper proposes a fuzzy gain scheduled output feedback control for variable-speed variable-pitch wind turbine in full load region. The proposed method is based on modeling the nonlinear system as a family of systems linearized around a specific operating point. The goal is to design optimal PI controllers based on linear models and a fuzzy scheduler. The parameters of each PI controller are...

A neuro-adaptive approach for autonomous flight controller design for aerial robots is proposed. Three intelligent modules are implemented to control respectively the altitude, airspeed and roll angle of the airplane, through which the altitude and the latitude-longitude of the unmanned aerial vehicle are controlled. Each intelligent module consists of a conventional feedback controller and a n...

The performance of a hardware distributed shared memory (DSM) system is largely dependent on its architect’s ability to reduce the number of remote memory misses that occur. Previous attempts to solve this problem have included measures such as supporting both the CC-NUMA and S-COMA architectures in the same machine and providing a programmable DSM controller that can emulate any DSM mechanism....