This letter studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from hybrid wheeled and legged design features. A comprehensive hierarchical scheme planning control with robots is developed. Underactuation dynamics main difficulty to be addressed, especially in problem. To tackle this issue, novel wheeled-spring-loaded inverted pendulum (W-SLIP) model ...

this paper introduces an indirect adaptive fuzzy sliding mode controller as a power system stabilizer for damping local and inter-area modes of oscillations of multi-machine power systems. this controller is designed based on the combination of sliding mode controller and the fuzzy logic systems. the fuzzy systems are used to approximate the unknown functions of power system model. generator sp...

This paper proposes several nonlinear control strategies for trajectory trackingof a quadcopter system based on the property of differential flatness. Its origi-nality is twofold. Firstly, it provides a flat output for the quadcopter dynamicscapable of creating full flat parametrization of the states and inputs. Moreover,B-splines characterizations of the flat output and the...

one of the most important fuel cells (fcs) is proton exchange membrane fuel cells (pemfcs). the outputvoltage of this fc depends on current loads. this paper tries to introduce, implement and control the voltage ofpemfc, during load variations. the output voltage of fuel cell should be constant during load variation. toachieve this goal, a controller should be designed. here, the lead-lag contr...

The use of material transfer units constructed from AGVs and robot manipulators is becoming popular in production lines with small production volumes and periods. This new material transfer unit is also called a mobile robot, which can quickly adapt to the change of the factory loyout. A mobile robot is sufficiently mobile that it can very flexibly perform tasks in the production line. A guidan...

lapping is one of the most important polishing processes which can be used to fabricate flat and smooth surfaces. in this paper, the effect of lapping characteristics and mesh number of abrasive particles are studied on the surface roughness and flatness for the machining of hardened aisi 52100 rings. the most significant lapping characteristics are pressure, lap plate speed and time. scanning ...

the problem of relative motion control for spacecraft formation flying in eccentric orbits is considered in this paper. due to the presence of nonlinear dynamics and external disturbances, a robust fuzzy sliding mode controller is developed. the slopes of sliding surfaces of the conventional sliding mode controller are tuned according to error states using a fuzzy logic and reach the pre-define...