Control system architecture considers the actual placement of actuators and the speciic geometry in which they are conngured. Ineeective placement of actuators may increase the actuator eeort required to achieve a speciic closed loop response. This research investigates the closed loop performance of a robust H 1 tendon-controlled structure for a variety of architectures to determine the tradeo...

Redundant actuators are commonly used for actuator failure compensation but bring new challenges for feedback control design as uncertain failures can introduce large structural, parametric and actuation uncertainties. Two key technical issues are associated with using redundant actuators: how to coordinate redundant actuators for effective feedback control, and how to adaptively compensate unc...

The flow control on the separation bubble and the large scale vortex is important in the turbo machine. Recently, a new approach using the plasma actuators is proposed to control the separation bubble and the large scale vortex. The aim of this study is to control the large scale vortex behind a flat plate using the plasma actuators. The effect of the three dimensional jet induced by the plasma...

This paper analyzes features and problems related to the application of the simplex sliding mode control to systems with monodirectional actuators and integrators in the input channel. The plain use of the method formulated in previous contributions results in unacceptable behaviors, such as control laws (the output of the mono-directional actuators), which increase without bounds. It is propos...

The growing field of human-robot interaction (HRI) demands robots that move fluidly, gracefully, compliantly and safely. This thesis describes recent work in the design and evaluation of long-travel voice coil actuators (VCAs) for use in robots intended for interacting with people. The basic advantages and shortcomings of electromagnetic actuators are discussed and evaluated in the context of h...

The use of few stiff fibers to control the deformation of dielectric elastomer actuators, in particular to break the symmetry of equi-biaxial lateral strain in the absence of prestretch, is demonstrated. Actuators with patterned fibers are shown to evolve into unique shapes upon electrical actuation, enabling novel designs of gripping actuators for soft robotics.

This paper aims at presenting the efficiency of the Linear Parameter Varying method for vehicle dynamics control, in particular when some actuators may be in failure. The case of the suspension actuators failure and braking actuators failure are presented. The main objective is to enhance the vehicle dynamics even with faulty actuators through the suspension control (for comfort and road holdin...

The presence of van der Waals (vdW) force can lead to mechanical instability in freestanding nano-scale actuators. Most of the previous researches in this area have exclusively focused on modeling the instability in actuators with one actuating components. While, less attention has been paid to actuators consist of two actuating components. Herein, the effect of the vdW force on the instability...

This paper presents the design of a reliable decentralized state feedback control for a class of uncertain interconnected polytopic continous systems. A model of failures in actuators is adopted which considers outages or partial degradation in independent actuators. The control is developed using the concept of guaranteed cost control and a new LMI characterization using polytopic Lyapunov fun...

Robotically Augmented Electric Guitar is a novel robotic guitar that establishes shared control between human performers and mechanical actuators. Unlike other mechatronic guitar instruments that perform pre-programmed music automatically, this guitar allows the human and actuators to produce sounds jointly; there exists a distributed control between the human and robotic components. The intera...