In this paper, we develop a gain-scheduled controller for a nonlinear plant of the sphere liquid tank. The proposed strategy is based on linearization of the nonlinear state equation around selected operating points. This methodology allows to apply any linear control design method. In particular, we discuss a polynomial method to achieve desired stability and performance requirements. Followin...

An improved transfer matrix method for multi-rigid-body systems is presented based on the structural characteristics of the manipulator and the relations between motion transfer and force transfer. Thus, a new model applicable to serial robots is obtained by using of discrete time transfer matrix method. Based on the improved method, a unified model for a manipulator with n DOF is derived. This...

This paper proposes the design of linear quadratic (LQ) digital controller in Ball & Plate model in experimental environment. The non-linear mathematical model of Ball & Plate structure is presented and adequately linearized. Polynomial approach to controller design for two degrees of freedom (2DOF) controller structure is introduced as the main tool for determination of unknown parameters. Thi...

The digital control is an important aspect of today’s technologies and industrial environment. This thesis presents the digital control of an unstable Ball & Plate system from the mathematical model to real-model control. There are many different controller design approaches and the one used here is based on the minimization of linear quadratic LQ criterion for 2DOF controller structure using s...

A new device of reduction for seismic response using friction force was developed. In this paper, vibration analysis of a small base isolation system using the device was investigated by excitation experiment using artificial seismic waves. Peak acceleration amplitude on the base isolation system has decreased to 43 90% compared to input waves. And root mean square (RMS) amplitude has decreased...

The current journal paper proposes an end-to-end analysis for the numerical implementation of a two-degrees-of-freedom (2DOF) control structure, starting from sampling rate selection mechanism via quasi-optimal manner, along with estimation worst-case execution time (WCET) specified controller. For selection, classical Shannon–Nyquist theorem is replaced by optimization problem that encompasses...

In this paper we describe the mechanical design, gait and control for a modular hexapod robot which makes it compliant to terrain while climbing slopes up and down. The robot uses a unique electronically actuated 2DOF universal spine similar to the spine of the Snake and the four legged animals like leopard, tiger etc.By controlling the amount of stiffness of the spine we were able to make the ...

Minimally Invasive Surgery (MIS) has enjoyed increasing attention and development over the last two decades. As MIS systems evolve, the surgeon is increasingly insulated from patient contact, creating a trade-off between surgical sensory information and patient invasiveness. Incorporation of haptic feedback into MIS systems promises to restore sensory information surrendered in favor of minimal...