A robust wheel slip controller for electric vehicles is introduced. The proposed wheel slip controller exploits the dynamics of electric traction drives and conventional hydraulic brakes for achieving maximum energy efficiency and driving safety. Due to the control of single wheel traction motors in combination with a hydraulic braking system, it can be shown, that energy recuperation and vehic...

The dynamical equations for a spinning top are derived in which the orientation is specified by a complex variable using stereographic projection of Poisson’s equations. Necessary and sufficient conditions for Lyapunov stability of the uncontrolled motion of the spinning top are derived using the Energy-Casimir method. Control laws that globally asymptotically stabilize the spinning top to the ...

In this work, the QFT technique was used to control a system with three degrees of freedom of coupled movement. The example is the coupling between the vertical and the horizontal dynamics of a high-speed craft. Since the angle between the heading and the seaway is different from 180 degrees, the action of the actuators for controlling each dynamic produces a coupling in the other dynamic. Firs...

Distributed manipulation systems induce motions on objects through the application of many external forces. An actuator array performs distributed manipulation using a planar array of many small stationary elements (which are called cells) that cooperate to manipulate larger objects. Typically, highly dense actuator arrays are modeled as spatially continuous, programmable force fields, although...

CONJUGATED POLYMER ACTUATORS AND SENSORS: MODELING, CONTROL, AND APPLICATIONS By Yang Fang Conjugated polymers are soft actuation and sensing materials with promising applications in biomedical devices and micromanipulation systems. However, their sophisticated electro-chemo-mechanical dynamics and nonlinear behaviors present significant challenges in such applications. This dissertation is foc...

Model-based controllers have successfully been applied to many electrically driven robotic manipulators to improve their tracking performance. The application to hydraulically actuated systems however is not straight forward, due to the nonlinear internal dynamics of the actuators. This paper presents the modelling of an experimental hydraulic robot arm and the implementation of a cascaded cont...

Abstract. We consider integer-restricted control of systems governed by abstract semilinear evolution equations. This includes the problem of optimal control design for certain distributed parameter systems endowed with multiple actuators, where the task is to minimize costs associated with the dynamics of the system by choosing, for each instant in time, one of the actuators together with ordi...

Actuators that bend slice lips are commonly used in cross-directional (CD) control systems for paper making and plastic film extrusion. A dynamic model of these actuators is developed which is used to investigate their spatial modes and dynamic responses. The model shows that both the shape and the amplitude of the spatial response depend upon the stiffness of the slice lip. The design of most ...

This paper presents the Distributed Environment for Virtual and/or Real Experiments for Underwater Robots (DEVRE). This environment is composed of a set of processes running on a local area network composed of three sites: (1) the onboard AUV computer, (2) a Surface computer used as human machine interface (HMI) and (3) a computer used for simulating the vehicle dynamics and representing the vi...

A mathematical model is developed for a mobile robot with three ball-wheels. The resulting model turns out to be a Chaplygin system, which allows the dynamics equations and the kinematic constraints to be integrated separately. The system is driven by six actuators: one actuator connected to one roller of each wheel, and three more actuators controlling the orientation of the ball-carriers with...