Electromechanical systems are usually modelled using energy conversion theory. However, this representation is not accurate enough. The reasons are the presence of non-linear relations between the variables, changes in system parameters, and the difficulty encountered sometimes in taking into account, in a simple and precise way, physical phenomena like, friction, viscosity, and saturation. So,...

A Recurrent Trainable Neural Network (RTNN) with a two layer canonical architecture and a dynamic Backpropagation leamng method are applied for identification and control of complex nonlinear mechanical plants. The paper uses a Fuzzy-Neural Hierarchical Multi-Model (FNHMM), which merge the fuzzy model flexibility with the learning abilities of the RNNs. The paper proposed the application of two...

A Recurrent Trainable Neural Network (RTNN) with a two layer canonical architecture and a dynamic Backpropagation learning method are applied for identification and control of complex nonlinear mechanical plants. The paper uses a Fuzzy-Neural Hierarchical Multi-Model (FNHMM), which merge the fuzzy model flexibility with the learning abilities of the RNNs. The paper proposed the application of t...

Integration of the operator’s haptic sensory modality in microrobotic cell injection offers immense benefits over conventional techniques. In particular, the haptically enabled system should be able to manipulate the microrobot in micro resolution. This requires a precision control strategy capable of tracking the trajectory mapped from the haptic side. As the system has an unknown internal str...

ARTICLE INFO ABSTRACT ARTICLE HISTORY: Received 23 October 2013 Revised 11 December 2013 Accepted 20 December 2013 Pulse-width modulated (PWM) adjustable frequency drives (AFDs) are extensively used in industries for control of induction motors. It has led to significant advantages in terms of the performance, size, and efficiency but the output voltage waveform no longer remains sinusoidal. He...

This paper proposes an inverse fuzzy-model-based controller. The gradient-descent algorithm can be used on-line to form adaptive fuzzy controllers. This ability allows the controller to be used in applications where the knowledge to control the process does not exist or the process is subject to changes in its dynamic characteristics. To demonstrate the feasibility of the method simulation and ...

In this paper, modelling and robust control of a two segment robot arm made from polypyrrole is proposed. Conjugated polymer actuators can be employed to achieve micro and nano scale precision, having a wide range of application including biomimetic robots, and biomedical devices. They can operate with low voltage while producing large displacement, in comparison to robotic joints, they do not ...