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We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as…
This paper investigates a new method to model and control variable-frequency power converters in a switching-synchronized sampled-state space for cycle-by-cycle digital control. There are a number of significant benefits in comparison to…
With their potential to significantly reduce traffic accidents, enhance road safety, optimize traffic flow, and decrease congestion, autonomous driving systems are a major focus of research and development in recent years. Beyond these…
In recent years, considerable progress has been made towards a vehicle's ability to operate autonomously. An end-to-end approach attempts to achieve autonomous driving using a single, comprehensive software component. Recent breakthroughs…
A new "model-free" control methodology is applied to a boost power converter. The properties of the boost converter allow to evaluate the performances of the model-free strategy in the case of switching nonlinear transfer functions,…
In this study, a new position control scheme for the tendon-sheath mechanism (TSM) which is used in flexible medical devices is presented. TSM is widely used in dexterous robotic applications because it can flexibly work in limited space,…
The Finite Elements with Switch Detection (FESD) method is a highly accurate direct transcription method for optimal control of several classes of nonsmooth dynamical systems. This paper extends the FESD method to Projected Dynamical…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
Tendon-sheath-driven manipulators (TSM) are widely used in minimally invasive surgical systems due to their long, thin shape, flexibility, and compliance making them easily steerable in narrow or tortuous environments. Many commercial…
Nonlinear systems, such as switching DC-DC boost or buck converters, have rich dynamics. A simple one-dimensional discrete-time model is used to analyze the boost or buck converter in discontinuous conduction mode. Seven different control…
The photovoltaic sun tracker allows us to increase the energy production. The sun tracker considered in this study has two degrees of freedom (2-DOF) and especially specified by the lack of sensors. In this way, the tracker will have as a…
Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to the presence of non-contact forces; namely, the inertial and…
Autonomous vehicles are becoming popular day by day not only for autonomous road traversal but also for industrial automation, farming and military. Most of the standard vehicles follow the Ackermann style steering mechanism. This has…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
This article proposes a mechanical sensorless control strategy for the synchronous rectification of small wind turbines equipped with a surface-mounted Permanent Magnet Synchronous Generator (PMSG). By means of Lyapunov theory, the Global…
This paper investigates the lateral control problem in vehicular path-following when the feedback sensor(s) are mounted at an arbitrary location in the longitudinal symmetric axis. We point out that some existing literature has abused the…
The wide range of operation of bridgeless rectifiers requires a control technique that guarantee robustness. Linear Power Factor Correction (PFC) control techniques, although effective, cannot guarantee such robustness. Nonlinear techniques…
The last decade witnessed increasingly rapid progress in self-driving vehicle technology, mainly backed up by advances in the area of deep learning and artificial intelligence. The objective of this paper is to survey the current…
Electric drive using dc shunt motor or permanent magnet dc (PMDC) motor as prime mover exhibits bifurcation and chaos. The characteristics of dc shunt and PMDC motors are linear in nature. These motors are controlled by pulse width…
An experimental setup is presented, developed for comprehensive evaluation of high performance inertial sensors for translational motion, accelerometers and geophones. It employs a precision, robust air bearing stage driven by integral…