相关论文: Pneumatic bellows actuated parallel platform contr…

Floating offshore wind turbines allow wind energy to be harvested in deep waters. However, additional dynamics and structural loads may result when the floating platform is being excited by wind and waves. In this work, the conventional…

In this paper, we propose to use a nonlinear adaptive PID controller to regulate the joint variables of a mobile manipulator. The motion of the mobile base forces undue disturbances on the joint controllers of the manipulator. In designing…

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…

In this paper, a nonlinear rotational inverted pendulum with time-varying parameters is controlled using the indirect adaptive fuzzy controller design. This type of controller is chosen because this particular system performance is highly…

Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…

We present an algorithm which combines recent advances in model based path integral control with machine learning approaches to learning forward dynamics models. We take advantage of the parallel computing power of a GPU to quickly take a…

Growing demands in the semiconductor industry result in the need for enhanced performance of lithographic equipment. However, position tracking accuracy of high precision mechatronics is often limited by the presence of disturbance sources,…

Electromechanical switching devices, such as solenoid valves, contactors, and relays, suffer from undesirable phenomena like clicking, mechanical wear, and contact bounce. Despite that, they are still widely used in industry due to their…

This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…

Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…

Since 2014, the F\'ed\'eration Internationale de l'Automobile has prescribed a parallel hybrid powertrain for the Formula 1 race cars. The complex low-level interactions between the thermal and the electrical part represent a non-trivial…

This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneuvers. Two antagonistically arranged, inflatable bellows…

Overactuated Tilt Rotor Unmanned Aerial Vehicles are renowned for exceptional wind resistance and a broad operational range, which poses complex control challenges due to non-affine dynamics. Traditional solutions employ multi-state…

This paper presents the design of Variable-Pitch-Propeller mechanism and its application on a quadcopter called Heliquad to demonstrate its unique capabilities. The input-output relationship is estimated for a generic mechanism. Various…

Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…

Since proportional-integral-derivative (PID) controllers absolutely dominate the control engineering, numbers of different control structures and theories have been developed to enhance the efficiency of PID controllers. Thus, it is…

This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics. Then, the…

In this paper we present a prediction-based Cooperative Adaptive Cruise Controller for vehicles with actuation delay, applicable within heterogeneous platoons. We provide a stability analysis for the discrete-time implementation of this…

This paper presents a new optimal fuzzy approach based on particle swarm optimization evolutionary algorithm for controlling the servo actuating system. It is clear that attaining the maximum stability margin is the prominent goal in…

The increasing demands for high accuracy in mechatronic systems necessitate the incorporation of parameter variations in feedforward control. The aim of this paper is to develop a data-driven approach for direct learning of…