The new propulsor, whose inspiration is from pectoral fins of fishes, has arisen increasing attention. To improve the performance of the existing labriform bionic pectoral fin, based on the structure and control mechanism of real fish pectoral fin, the under-actuated technology was utilized to design a new flexible bionic pectoral fin. Then, the kinematic model of pectoral fin during fish forwa...

In this work we present a novel control design methodology for under-actuated mechanical systems. As part of the design process we use the reachability analysis tool d/dt [ABDM99,D00] to see whether there is a switching sequence which can drive the system to a desired periodic orbit. Much of the work in the design of the control law is done manually using classical control techniques (unlike th...

Model Predictive Control (MPC) is an optimization-based control technique that has received an increasing research interest and has been widely applied in industry. Similarly to optimal control, MPC has an inherent ability to deal naturally with constraints on the inputs and on the state. Moreover, since the controls generated are closed-loop strategies obtained by optimizing some criterion, th...

Under-actuated robot manipulator is a kinematic chain wherein total degree of the freedom of the mechanism is more than actuators. Under actuated manipulators are advantageous from the minimalism viewpoint in robotics where a task is performed with less energy consuming actuations. In fact dynamic of the mechanism is exploited instead of fighting it [1][2]. Moreover, studies on under-actuated c...

Several control strategies are presented and studied for an industrial under-actuated tubular chemical reactor. This work presents a case-study of the performance of a decentralized versus centralized control strategy. The tubular reactor under consideration is characterized by nonlinear kinetic laws, and it has some structural constraints on the location of the heat exchangers and of the senso...

An under-actuated robot mlllipulator is a serial mechanism, in which the number of p i n t s is greater than the number of actuators. Making use of the dynamic interaction between the passive joiats and actuated joints, the robot can provide dairable motion and f o r c a dynamically. In comparison to a fully actuated robot, the mndu-actuated system will be more compact in size and lomr weighted...