相关论文: A novel Algorithm for Hydrostatic-mechanical Mobil…

This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…

Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic…

Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a…

The increasing need for sharing workspace and interactive physical tasks between robots and humans has raised concerns regarding safety of such operations. In this regard, controllable clutches have shown great potential for addressing…

A new Multi-Carrier Differential Chaos Shift Keying (MC-DCSK) modulation is presented in this paper. The system endeavors to provide a good trade-off between robustness, energy efficiency and high data rate, while still being simple…

This paper presents models and optimization methods to rapidly compute the achievable lap time of a race car equipped with a battery electric powertrain. Specifically, we first derive a quasi-convex model of the electric powertrain,…

This paper introduces a framework to systematically optimize the control and design of an electric vehicle transmission, connecting powertrain sizing studies to detailed gearbox design methods. To this end, we first create analytical models…

A few papers have been interested by the fixed switching frequency direct torque control fed by direct matrix converters, where we can find just the use of direct torque controlled space vector modulated method. In this present paper, we…

The Direct Torque Control (DTC) is well known as an effective control technique for high performance drives in a wide variety of industrial applications and conventional DTC technique uses two constant reference value: torque and stator…

Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and…

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…

Dynamic wireless charging (DWC) is an emerging technology that allows electric vehicles (EVs) to be wirelessly charged while in motion. It is gaining significant momentum as it can potentially address the range limitation issue for EVs.…

Different from most transactive control studies only focusing on economic aspect, this paper develops a novel network-constrained transactive control (NTC) framework that can address both economic and secure issues for a…

This paper presents models and optimization algorithms to jointly optimize the design and control of the transmission of electric vehicles equipped with one central electric motor (EM). First, considering the required traction power to be…

This paper introduces a control co-design (CCD) framework to simultaneously explore the physical parameters and control spaces for a hydro-kinetic turbine (HKT) rotor optimization. The optimization formulation incorporates a coupled…

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…

This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This lead to conflicting…

Control Co-Design (CCD) integrates physical and control system design to improve the performance of dynamic and autonomous systems. Despite advances in uncertainty-aware CCD methods, real-world uncertainties remain highly unpredictable.…

This paper proposes an intelligent fault-tolerant control (FTC) strategy to tackle the trajectory tracking problem of an underwater vehicle (UV) under thruster damage (power loss) cases and meanwhile resolve the actuator saturation brought…

Dynamic induction control is a wind farm flow control strategy that utilises wind turbine thrust variations to accelerate breakdown of the aerodynamic wake and improve downstream turbine performance. However, when floating wind turbines are…