Incorporate learning mechanisms into electromechanical drives permits design systems with self-learning capabilities and produces more autonomous processes with some “intelligence” degree. This paper presents a control system that uses a fuzzy learning methodology to design an inverse-model compensation controller. The controller shows generalisation and learning capabilities to compensate non-...

Robotic exoskeleton is getting important to human in many aspects such as power assist, muscle training, regain motor function and rehabilitation. The research and development towards these functions are expected to be combined and integrated with the human intelligent and machine power, eventually becoming another generation of robot which will enhance the machine intelligent and human power. ...

In mobile hydraulic machines, like excavators, backhoe loaders, wheel loaders, and forklift trucks, haptic human-machine interfaces are not in use. Today, the machines are operated with mechanical-hydraulic joysticks. Each joystick axis controls a single hydraulic actuator. This leads to not very easy to use operational concepts. Since electrohydraulic systems with electronic joysticks are avai...

1 In this paper we describe the Pendubot, a mechatronic device for use in control engineering education and for research in nonlinear control and robotics. This device is a two{link planar robot with an actuator at the shoulder but no actuator at the elbow. With this system , a number of fundamental concepts in nonlinear dynamics and control theory may be illustrated. The pendubot complements p...

The partial loss of actuator effectiveness is considered for the control of a class of nonlinear processes in the presence of a fault. Not only unmatched uncertainties, but also matched uncertainties are discussed in Lyapunov stability sense. The partial loss of actuator effectiveness is approximated by high order neural networks. Application of the proposed design indicates that the fault comp...

1 Abstract—Utilizing model reference adaptive control approach and multiple Lyapunov functions method, we propose a switched adaptive controller for uncertain switched linear systems in control canonical form. These systems exist naturally in many practical applications, such as variable capacity hydraulic pump involving discrete changes that are specified by the valve position. We show that th...

Hydraulic actuators are characterized by their ability to impart large forces at high speeds and are used in many industrial motion systems. In applications where good dynamic performance is important it is common to contain the actuator in a servo loop comprising a feedback transducer and electronic controller. The majority of electronic servo-controllers used in these systems are analogue bas...

Existing robotic surgical platforms face limitations which include the balance between the scale of the robot and its capability in terms of range of motion, load capacity, and tool manipulation. These limitations can be overcome by taking advantage of fluid power as an enabling technology with its inherent power density and controllability. As a proof-of-concept for this approach, we are pursu...

Attaining a controlled output strain and utilizing a full potential of active material are the significant factors to design Terfenol-D actuator devises such as active damping devices, high speed hydraulic valve actuators, large-force linear motors and large torque rotating motors. To achieve this, a high magnetic biasing field is required in an actuator. The present work attempts to propose a ...