In this paper the sliding mode motion design is considered for the nonlinear plants which are linear with respect to the control input. The dynamics of the robotic manipulators is treated with and without the dynamics of the actuators. When the dynamics of the actuators is included a design of the sliding modes for the systems with discontinuous control is performed. If actuators’ dynamics is n...

The paper considers feedback stabilization of the position and attitude of an autonomous underwater vehicle (AUV) with a reduced number of actuators. A nonlinear model describing both the dynamics and the kinematics of an AUV is studied. The paper shows that previous results on attitude stabilization of a spacecraft can be applied to exponentially stabilize both the position and attitude of an ...

Piezoelectric nanopositioning actuators are widely employed in many applications, including the hard disk drives [1–3], gyroscopes [4] and the scanning probe microscopes [5]. Besides the precise position control, high-bandwidth tracking control is crucial for the applications of piezoelectric actuators, since, for example, it will allow hard disk drives to meet the demand for higher data storag...

Linear electro-mechanical actuators are finding increased use in the field of thrust vectoring of launch vehicles. Earlier, linear electro-hydraulic actuators were used especially in the lower stages of the launch vehicles where there is a requirement for large actuation forces. However, electro-mechanical actuators are being scrutinized for this purpose in an effort to provide lighter, cleaner...

in this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. it provides both robust tracking and load swing suppression. inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. the crane nonlinearities are then tr...

The aim of this study is to investigate the capability of a 6-DoF parallel robot to perform various rehabilitation exercises. The foot trajectories of twenty healthy participants have been measured by a Vicon system during the performing of four different exercises. Based on the kinematics and dynamics of a parallel robot, a MATLAB program was developed in order to calculate the length of the a...

While there is a trend in current robotics towards more biologically inspired actuators, most work emphasizes the elastic property of muscles and tendons. Although elasticity plays a major role in many forms of movements, particularly walking and running, other features of animal muscles might also affect or even dominate movement dynamics. In this paper we use the Hill-type muscle model, commo...

In this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. It provides both robust tracking and load swing suppression. Inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. The crane nonlinearities are then tr...

An analytical solution for a sandwich circular FGM plate coupled with piezoelectric layers under one-dimension heat conduction is presented in this paper. A nonlinear static problem is solved first to determine the initial stress state and pre-vibration deformations. By adding an incremental dynamic state to the pre-vibration state, the differential equations are derived. The role of thermal en...

This paper presents a study on dynamics modeling and control system design of a stewart platform using piezoelectric actuators, which has been developed at the Spacecraft Dynamics Control and Navigation Laboratory (SDCNLab), York University for vibration isolation. As an efficient mechanism of six degree-of-freedom (6-DOF), stewart platform is capable of isolating vibration of wide band range, ...