Wave-based planar motion and vibration control of under-actuated mass-spring arrays

Impulse Control for Planar Spring-Mass Running

In this paper, we present a novel control strategy for running which is robust to disturbances, and makes excellent use of passive dynamics for energy economy. Our strategy combines two ideas: an existing flight phase policy, and a novel stance phase impulse control policy. The state-of-the-art flight phase policy commands a leg angle trajectory that results in a consistent horizontal center-of...

Wave-based control of under-actuated flexible structures with strong external disturbing forces

Wave-based control of under-actuated, flexible systems has many advantages over other methods. It considers actuator motion as launching a mechanical wave into the flexible system which it absorbs on its return to the actuator. The launching and absorbing proceed simultaneously. This simple, intuitive idea leads to robust, generic, highly efficient, precise, adaptable controllers, allowing rapi...

Robust Fractional Order Control of Under-actuated Electromechanical System

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

Robust Fractional Order Control of Under-actuated Electromechanical System

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

Model predictive control of magnetically actuated mass spring dampers for automotive applications