Related papers: Fuzzy Logic Based Direct Torque Control Of Inducti…
The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along…
This paper investigates the vision-based autonomous driving with deep learning and reinforcement learning methods. Different from the end-to-end learning method, our method breaks the vision-based lateral control system down into a…
The modular multilevel converter (MMC) has become increasingly important in voltage-source converter-based high-voltage direct current (VSC-HVDC) systems. Direct and indirect modulation are widely used as mainstream modulation techniques in…
Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational…
A common architecture for torque controlled humanoid robots consists in two nested loops. The outer loop generates desired joint/motor torques, and the inner loop stabilises these desired values. In doing so, the inner loop usually…
This paper proposed a straightforward and efficient current control solution for induction machines employing deep symbolic regression (DSR). The proposed DSR-based control design offers a simple yet highly effective approach by creating an…
The rise of multi-section continuum robots (CRs) has captivated researchers and practitioners across diverse industries and medical fields. Accurate modeling of these dexterous manipulators continues to be a significant challenge. This…
The lower order harmonic elimination using space vector pulse width modulation (SVPWM) technique is possible by introducing the dwell time division coefficient 'k' in space vector. In this paper, torque ripple analysis is carried out for…
A fundamental issue at the core of trajectory optimization on smooth manifolds is handling the implicit manifold constraint within the dynamics. The conventional approach is to enforce the dynamic model as a constraint. However, we show…
This work aims to develop an integrated control strategy for Brushless Direct Current Motors for a wide range of applications in robotics systems. The controller is suited for both high torque - low speed and high-speed control of the…
In this project, we designed a DC motor whose speed can be controlled by a PID controller. The proportional, integral and derivative gains (KP, KI, KD) of the PID controller are adjusted according to Fuzzy logic. First of all, the fuzzy…
A method of a fusion of fuzzy inference and policy gradient reinforcement learning has been proposed that directly learns, as maximizes the expected value of the reward per episode, parameters in a policy function represented by fuzzy rules…
This study presents a conceptual design of laparoscopic forceps whose grasping torque can be directly controlled by the user. By integrating an adjustable constant torque mechanism, the handle opening angle is converted to the grasping…
Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have important theoretical benefits but have never been implemented on a…
In this paper we present a Fuzzy Logic control approach designed to stabilize a multi-input multi-output magnetic suspension system. The system has four cubic floaters and four actuators that apply magnetic forces on the floaters, the…
Modelling robot dynamics accurately is essential for control, motion optimisation and safe human-robot collaboration. Given the complexity of modern robotic systems, dynamics modelling remains non-trivial, mostly in the presence of…
Computed-torque control requires a very precise dynamical model of the robot for compensating the manipulator dynamics. This allows reduction of the controller's feedback gains resulting in disturbance attenuation and other advantages.…
Adverse road conditions can cause vehicle yaw instability and loss of traction. To compensate for the instability under such conditions, corrective actions must be taken. In comparison to a mechanical differential, an electronic…
Electric motors are crucial in many applications, but traditional control methods struggle with nonlinearities, parameter uncertainties, and external disturbances. Reinforcement Learning (RL) offers a promising solution as a data-driven…
Voltage-driven spin transfer torques in magnetic tunnel junctions provide an outstanding tool to design advanced spin-based devices for memory and reprogrammable logic applications. The non-linear voltage dependence of the torque has a…