This work proposes a neural-fuzzy sliding mode control scheme for a hydro-turbine speed governor system. Considering the assumption of elastic water hammer, a nonlinear mode of the hydro-turbine governor system is established. By linearizing this mode, a sliding mode controller is designed. The linearized mode is subject to uncertainties. The uncertainties are generated in the process of linear...

Abstract Antagonistically actuated variable stiffness actuators (VSAs) take inspiration from biological muscle structures to control both the and positioning of a joint. This paper presents design an elastic mechanism that utilizes cable running through set three pulleys displace linear spring, yielding quadratic spring behavior in each actuator. A joint antagonistically by two such mechanisms ...