Valve Deadzone/Backlash Compensation for Lifting Motion Control of Hydraulic Manipulators

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Fuzzy gain scheduling of PID controller for stiction compensation in pneumatic control valve

Inherent nonlinearities like, deadband, stiction and hysteresis in control valves degenerate plant performance. Valve stiction standouts as a more widely recognized reason for poor execution in control loops. Measurement of valve stiction is essential to maintain scheduling. For industrial scenarios, loss of execution due to nonlinearity in control valves is an imperative issue that should be t...

Lifting Based Video Coding Using Motion Compensation

This study introduces a video compression method that uses spatio – temporal lifting based algorithms to compress the video signals. The temporal correlation of consecutive frames causes temporal redundancies which are subject to lifting-like motion predictive compression. Moreover, the spatial correlation between neighbouring pixels of the same frame is subject to intra-frame wavelet compressi...

Motion Control of Robot Manipulators

Motion compensation and scalability in lifting-based video coding

Motion-compensated temporal filtering subband video codecs have attracted recently a lot of attention, due to their compression performance comparable with that of state-of-the-art hybrid codecs and due to their additional scalability features. In this paper we present a scalable video codec based on a 5/3 adaptive temporal lifting decomposition. Different adaptation criteria for coping with th...