Related papers: System Identification and Controller Design for Hy…
Accurate actuation models are critical for bridging the gap between simulation and real robot behavior, yet obtaining high-fidelity actuator dynamics typically requires dedicated test stands and torque sensing. We present a trajectory-based…
Selecting appropriate sensors and actuators is a pivotal aspect of design and engineering, particularly in projects involving interactive systems. This article introduces the Design Thinking Based Iterative Sensor and Actuator Selection…
System identification from the experimental data plays a vital role for model based controller design. Derivation of process model from first principles is often difficult due to its complexity. The first stage in the development of any…
This study presents a method, along with its algorithmic and computational framework implementation, and performance verification for dynamical system identification. The approach incorporates insights from phase space structures, such as…
The study focuses on the applicability of system identification to identify building and system dynamics for climate control design. The main problem regarding the simulation of the dynamic response of a building using building simulation…
We present a three-step method to perform system identification and optimal control of non-linear systems. Our approach is mainly data driven and does not require active excitation of the system to perform system identification. In…
We present a systematic approach for determining the optimal actuator location for separation control from input-output response data, gathered from numerical simulations or physical experiments. The Eigensystem Realization Algorithm is…
The attitude control of a quadrotor is a fundamental problem, which has a pivotal role in a quadrotor stabilization and control. What makes this problem more challenging is the presence of uncertainty such as unmodelled dynamics and unknown…
The goal of this article is to study fundamental mechanisms behind so-called indirect and direct data-driven control for unknown systems. Specifically, we consider policy iteration applied to the linear quadratic regulator problem. Two…
Nowadays, the applications of hydraulic systems are present in a wide variety of devices in both industrial and everyday environments. The implementation and usage of hydraulic systems have been well documented; however, today, this still…
System identification is a common tool for estimating (linear) plant models as a basis for model-based predictive control and optimization. The current challenges in process industry, however, ask for data-driven modelling techniques that…
Traditional system identification with multisine inputs relies on uniform sampling and periodic excitation to preserve Fourier orthogonality and avoid spectral leakage, limiting its use in scenarios with irregular sampling or nonperiodic…
Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous…
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm…
In this paper a novel hybrid position/force control with autonomous switching between both control modes is introduced for hydraulic actuators. A hybrid position/force control structure with feed-forwarding, full-state feedback, including…
This paper presents design, fabrication and control of a compliant 2D manipulator, a so called soft actuator. Our focus is on fiber-reinforced elastomer actuators driven by a constant pressure hydraulic supply and modulated on/off valves.…
Heavy-duty hydraulic manipulators (HHMs) operate under strict physical and safety-critical constraints due to their large size, high power, and complex nonlinear dynamics. Ensuring that both joint-level and end-effector trajectories remain…
The application of nonlinear control schemes to electro-hydraulic actuators often requires several alterations in the design of the controllers during their implementation. This is to overcome challenges that frequently arise in such…
System identification involves constructing mathematical models of dynamic systems using input-output data, enabling analysis and prediction of system behaviour in both time and frequency domains. This approach can model the entire system…
UAV control system is a huge and complex system, and to design and test a UAV control system is time-cost and money-cost. This paper considered the simulation of identification of a nonlinear system dynamics using artificial neural networks…