In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly de...

magnetorheological (mr) dampers have the advantage of being tuned by low voltages. this has attracted many researchers to develop semi-active control of structures in theory and practice. most of the control strategies first obtain the desired forces of dampers without taking their dynamics into consideration and then determine the input voltages according to those forces. as a result, these st...

In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...

Accurate prediction of pollution control and environmental protection need a good understanding of pollutant dynamics. Numerical model techniques are important apparatus in this research area. So a 2500 line FORTRAN 95 version code was conducted in which using approximate Riemann solver, couples the shallow water and pollution transport agents in two dimensions by the aid of unstructured meshes...

Non-linear characteristic of tire forces is the main cause of vehicle lateral dynamics instability, while direct yaw moment control is an effective method to recover the vehicle stability. In this paper, an optimal linear quadratic regulator (LQR) controller for roll-yaw dynamics to articulated heavy vehicles is developed. For this purpose, the equations of motion obtained by the MATLAB sof...