This paper proposes a fault tolerant control strategy for drone interceptors with fixed wings and reaction jets subject to actuator faults. The have both continuous discrete actuators, which pose challenge the system design. proposed consists of two parts, nonlinear virtual law dynamic allocator. To deal uncertainty quantization error, parameter update is designed by command filtered backsteppi...

In this paper, an efficient method is presented to control the attitude of a satellite with ON-OFF actuator. The main objective of this novel method is to control the amplitude of the limit cycle which commonly appears in the steady state of such systems; and at the same time by consideration of real actuator constraints, reduce the fuel consumption of system. The Proposed method is a combinati...

In this paper, a robust adaptive actuator failure compensation control scheme is proposed for a class of multi input multi output linear systems with unknown time-varying state delay and in the presence of unknown actuator failures and external disturbance. The adaptive controller structure is designed based on the SPR-Lyapunov approach to achieve the control objective under the specific assump...

Currently, when direct human contact is limited owing to the coronavirus era, virtual reality systems are a technology that enables interaction without spatial restrictions. In this study, system capable of feedbacking various shapes and stiffness touching an object in was conceived using SMA textile actuator, which shape memory alloy (SMA) remembers by training at 500 °C for 15 min with tools ...

Sensor application requirements vary tremendously, ranging from densely deployed habitat-monitoring setup to the real-time constrained military applications. This paper presents the design of a novel self-organizing framework for SANETs (Sensor and Actuator Networks). We assume two wireless interfaces at the actuator nodes, one to communicate with sensor nodes, and the other, for the neighborin...

Massive actuator arrays found their applications in robotics, pharmaceutics, aerospace, etc. Compared with electrically and/or pneumatically powered actuator array, hydraulic actuator has the comprehensive advantages of higher force density (i.e. force / actuation area), better controllability, and simpler remote control accessibility. This paper presents approaches to construct and control a m...

A new diaphragm actuator based on the ferromagnetic shape memory alloy (FSMA) composite is designed where the FSMA composite is composed of ferromagnetic soft iron and superelastic grade of NiTi shape memory alloy (SMA). The actuation mechanism for the FSMA composite plate of the actuator is the hybrid mechanism that we proposed previously. This diaphragm actuator is the first design toward des...

This paper presents a new architecture in soft robotics that utilizes particulate jamming technology. A novel concept of actuation is described that utilizes jamming technology to modulate the direction and magnitude of the work performed by a single central actuator. Jamming “activators” modulate work by jamming and unjamming (solidifying and liquifying) a granular medium coupled to a core act...

A haptic simulation environment to simulate planar threedegree-of-freedom motion has been developed by the authors. The system consists of a novel parallel manipulandum and associated control, collision detection and dynamic simulation software running on a QNX PC. This paper describes haptic interface control and outlines the control systems that have been designed for the haptic rendering of ...

This paper presents a method of modeling and subsequently characterizing stochastically controlled actuator arrays. The actuator arrays are built from cells, each containing six piezoelectric actuators and an amplification structure; however the results can be generalized to actuator arrays using solenoids, pneumatic cylinders, or any other fast acting linear actuators. The cells are controlled...