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As wind turbine power capacities continue to rise, taller and more flexible tower designs are needed for support. These designs often have the tower's natural frequency in the turbine's operating regime, increasing the risk of resonance…
Automation of hydraulic material handling machinery is currently limited to semi-static pick-and-place cycles. Dynamic throwing motions which utilize the passive joints, can greatly improve time efficiency as well as increase the dumping…
Digital twin (DT) systems aim to create virtual replicas of physical objects that are updated in real time with their physical counterparts and evolve alongside the physical assets throughout its lifecycle. Transportation systems are poised…
Formation control of multiple groups of agents finds application in large area navigation by generating different geometric patterns and shapes, and also in carrying large objects. In this paper, Centroid Based Transformation (CBT)…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
Drifting is an advanced driving technique where the wheeled robot's tire-ground interaction breaks the common non-holonomic pure rolling constraint. This allows high-maneuverability tasks like quick cornering, and steady-state drifting…
Optimal control of magnetizing current for minimizing induction motor power losses during load torque step change was developed. Obtained strategy has feedback form and is exactly optimal of ideal speed controller performance and absence of…
This paper represents a novel regenerative braking approach for the Electric Vehicles. The proposed method solves the short-range problem which is corresponding to the charge of the battery pack. The DTC switching algorithm has been…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…
This paper proposes a robust control of doublefed induction generator of wind turbine to optimize its production: that means the energy quality and efficiency. The proposed control reposes in the sliding mode control using a multimodel…
Differential drive mobile robots often use one or more caster wheels for balance. Caster wheels are appreciated for their ability to turn in any direction almost on the spot, allowing the robot to do the same and thereby greatly simplifying…
Ultra-dense network deployment has been proposed as a key technique for achieving capacity goals in the fifth-generation (5G) mobile communication system. However, the deployment of smaller cells inevitably leads to more frequent handovers,…
Mecanum wheeled mobile robots (MWMRs) are highly susceptible to actuator faults that degrade performance and risk mission failure. Current fault tolerant control (FTC) schemes for MWMRs target complete actuator failures like motor stall,…
Most of the previous works on data flow optimizations for Machine Learning hardware accelerators try to find algorithmic re-factorization such as loop-reordering and loop-tiling. However, the analysis and information they provide are still…
Multi-robot platforms are playing an increasingly important role in warehouse automation for efficient goods transport. This paper proposes a novel customization of a multi-robot system, called Tactile Mobile Manipulators (TacMMs). Each…
This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated…
In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints,…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…