Cognitive research shows that emotions guide an organism’s actions and perceptive focus. A similar technique can be used to provide robust control of robot behavior in dynamic, populated environments. We present a biologicallyinspired, emotion-based motivation engine that drives robot behavior selection. In addition, we describe a basic learning technique for adapting motivation response over t...

LuGre model has been widely used in dynamic friction modeling and compensation. However, there are some practical difficulties when applying it to systems experiencing large range of motion speeds such as, the linear motor drive system studied in the ∧ article. This article first details the digital implementation problems of the LuGre model based dynamic friction compensation. A modified model...

The mixed μ synthesis is proposed for mechanical systems. In this method, both the real parametric and the complex uncertainties are handled together. A compensator that achieves nominal performance and meets robust stability specifications can be designed. The method will be illustrated for an inverted pendulum device as an educational example and a suspension design problem as a practical exa...

In this paper, a novel non-smooth robust control approach is presented for robotic manipulators. By using decimal power rule in Lyapunov redesign methods, the conventional robust control for robot is improved. Our approach can achieve higher control precision with faster convergence speed. The formulations of estimating residual set and settling time have been initially established. The practic...

Semi-active suspensions have drawn particular attention due to their superior performance over the other types of suspensions. One of their advantages is that their damping coefficient can be controlled without the need for any external source of power. In this study, three control approaches are implemented on a quarter-car model using MATLAB/Simulink. The investigated control methodologies ar...

Most robust control charts in the literature are for monitoring process location parameters, such as mean or median, rather than process dispersion parameters.This paper develops a new robust control chart by integrating a two-sample nonparametric test into the effective change-point model. Our proposed chart is easy in computation, convenient to use, and very powerful in detecting process disp...

in this paper, a robust pid control scheme is proposed for micro-electro-mechanical-systems(mems) optical switches. the proposed approach is designed in a way which solves twochallenging and important problems. the first one is successful reference tracking and the second ismitigating the system nonlinearities. the overall system composed of nonlinear mems dynamicsand the pid controller is prov...