This paper addresses issues of mechanical emulation of sti walls and stick-slip friction with a 6-DOF magnetically levitated joystick. In the case of sti wall emulation, it is shown that the PD control implementation commonly used severely limits achievable wall damping and sti ness. It is also shown that the perceived surface sti ness can be increased without loss of stability by applying a br...

We discuss a speed controller for a hopping robot with a pneumatically powered leg. The controller uses a neural network to model the neutral point as a function of running speed and hopping height. The network is trained off-line using training data taken from a simulated hopper that is manually controlled by a human. Simulation experiments of hopping in the sagittal plane show improved perfor...

Neural network based controller is used for controlling a mobile robot system. Feedback error learning (FEL) can be regarded as a hybrid control to guarantee stability of control approach. This paper presents simulation of a mobile robot system controlled by a FEL neural network and PD controllers. This feedback error-learning controller benefits from both classic and adaptive controller proper...

A simultaneous manipulator/controller design optimization problem is described using a multi-objective optimization formulation applied to an end-effector tracking problem. Dynamic performance measures, for the closed-loop system, are optimized by considering a nonlinear PD controller and quintic polynomial trajectories for point-to-point motions. Results for a planar-manipulator, a controller,...

Attitude control of operational satellites is still predominantly performed by standard controllers such as Proportional plus Derivative (PD) control laws, which are still preferred for implementation to the computationally intensive nonlinear optimal control techniques, representing higher implementation complexity. In this paper, an inverse optimal control approach based on phase space geomet...

A fuzzy gain scheduling proportional controllers that exhibits the improved performance than the conventional linear fixed gain controller having input saturation is proposed in this paper. We proposed an adaptive anti-windup control system in which the gain of a proportional controller is dynamically tuned by a fuzzy PD system. The methodology employed in the analysis is based on the describin...

Izvorni znanstveni rad In this work are compared performances of five different robot control algorithms. The following controllers under consideration are: PD controller, PID controller, analytical fuzzy controller, classical adaptive controller and adaptive controller based on neural network. The mentioned controllers are used to control two different robot configurations with two rotational ...

This paper presents an approach where the Particle swarm optimization (PSO) is employed to get optimum PID controller parameters to control of a SCARA robot. PSO is an evolutionary technique which is originated from swarm intelligence. A practical application of the PSO-PID controller is performed with the system dynamics. A simulation study is also included with the proposed controller by usin...