Real-time balance control of an eight-link biped robot using a zero moment point (ZMP) dynamic model is difficult to achieve due to the processing time of the corresponding equations. To overcome this limitation an intelligent computing technique based on Support Vector Regression (SVR) is developed and presented in this paper. To implement a PD controller the SVR uses the ZMP error relative to...

In this paper, a novel model-based impedance controller for a 6-degree-of-freedom (dof) electrohydraulic Stewart platform mechanism is developed. Rigid body and experimentally developed electrohydraulic models, including servovalve, friction and leakage models are employed and described by a set of integrated system equations. Despite the fact that an electrohydraulic servoactuator is not a sou...

The rst part of this thesis includes a brief comparison between electricmotors and hydraulic actuators for high performance robotics applications. Hydraulic actuators with fast valves are shown to be superior because of their large torque to mass ratios and their extended bandwidth. One such hydraulic actuator is characterized and its highly nonlinear dynamics are modeled and identi ed. A simul...

A quadcopter control system is a fundamentally difficult and challenging problem because its dynamics modelling highly nonlinear, especially after accounting for the complicated aerodynamic effects. Plus, variables are interdependent coupled in nature. There six controllers studied analysed this work which (1) Proportional–Integral–Derivative (PID), (2) Proportional-Derivative (PD), (3) Linear ...

The DC-DC boost converter reveals highly non-linear and non-minimum phase properties, is very difficult task to design a controller that is healthy against load variation. For this purpose a Fuzzy PID Controller is proposed to control DC-DC boost converter which has a practical inductor and a series resistance. A balancing ProportionalIntegral-Differential (PID) controller to the parallel-dampe...

Achieving high performance controller for multi-joints actuators on rehabilitation lower limb exoskeleton (RLLE) is difficult due to its non-linear characteristics. The with less tracking error a key challenge in their controller. Therefore, this paper presents new particle swarm optimization based initialization of model reference adaptive fuzzy logic proportional derivative (Adaptive-FLC-PD),...

A virtual zero power (VZP) method was used to reduce the consumption of hybrid magnetic bearings (HMBs) in left ventricular assist devices (LVADs). The mathematics HMB system LVAD established, and stability analyzed with a proportional-derivative (PD) controller. unbalanced forces on rotor can be identified by output voltage PD controller, together negative stiffness permanent magnet, suspended...