In the railway industry, slip control has always been essential due to the low friction between the wheels and the rail. In this master’s thesis we have gathered several slip control methods and evaluated them. These evaluations were performed in Matlab-Simulink on a slip process model of a railway vehicle. The objective with these evaluations were to show advantages and disadvantages with the ...

This paper addresses the design of a fuzzy control system with a fuzzy controller and a fuzzy estimator for a fossil fuelled drum boiler-turbine-generator unit on the basis of a dynamic fuzzy model that was developed in our recently published paper. In the design procedure, a dynamics augmentation is introduced and a dynamic fuzzy augmented system is then determined for the nonlinear boiler-tur...

This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimat...

In this work a motion control scheme, which belongs to the class of the control schemes known as a sliding mode control with disturbance estimation is proposed. Adaptive fuzzy disturbance estimator works as an identifier of variable part of a system dynamics. Adaptation algorithm is derived by using the Lyapunov stability theory and provides global asymptotic stability of the state errors. For ...

advances and technical standards in neurosurgery vol 38 advances and technical standards in neurosurgery advances in stereotactic and functional neurosurgery head injuries tumors of the crebellar region advances in neurosurgery towards minimally invasive neurosurgery 1st asian congreB of stereotactic functional and computeraBisted neurosurgery singapore december 1994 abstracts Petronas Technica...

Dry friction dampers are widely used to reduce vibration. The forced vibration response of a simplified turbine blade with a new kind of under-platform dry friction dampers is studied in this paper. The model consists of a clamped blade as two rigidly connected beams and two dampers in the form of masses which are allowed to slide along the blade platform in the horizontal direction and vibrate...

tthe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. this paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. as a novelty, the proposed controller employs a simple gaussian radial-basis-function network as an uncertainty estimator. the proposed netw...

In this paper, an antilock–antiskid braking system controller, which has been designed for stability enhancement of vehicles during braking and turning, is presented. Using available signals, a novel structure is proposed for vehicle stability improvement for critical driving conditions such as braking on slippery or μ-split road surfaces. In conventional vehicles, undesired lane changes may oc...

Mechanical force regulates a broad range of molecular interactions in biology. Three types of counterintuitive mechanical regulation of receptor-ligand dissociation have been described. Catch bonds are strengthened by constant forces, as opposed to slip bonds that are weakened by constant forces. The phenomenon that bonds become stronger with prior application of cyclic forces is termed cyclic ...

Autonomous vehicles and research pertaining to them have been an important topic in academia and industry in recent years. Developing controllers that enable vehicles to perform path and trajectory following is a diverse topic where many different control strategies are available. In this thesis, we focus on lateral and longitudinal control of autonomous vehicles and two different control strat...