Piezoelectric-driven stick slip actuators have been drawn more and more attention in the nanopositioning application due to the high accuracy and theoretical unlimited displacement. However, the hysteresis of piezoelectric actuator (PEA) and the nonlinear friction force between the endeffector and the stage make control of piezoelectric-driven stick slip actuator challenge. This paper presents ...

A variable structure slip control strategy is developed for grasping objects by a robot end-effector. A hybrid controller comprised of a fuzzy controller and a PI controller is designed to perform the strategy. When a grasped object is slipped by an external force as a disturbance, the applied fingertip force is rapidly increased to stop sliding and then decreased to a reliable limit to hold th...

Field and laboratory data reveal the possibility of a significant coupling of elastic and electromagnetic (EM) fields that affect (hamper or initiate) slip. In this work we try to prove experimentally the possibility of controlling the slip regime by relatively weak mechanical or EM impact, in the way it has been done in nonlinear dynamic experiments on the control of chaos. The experimental se...

A b s t r a c t In this paper, longitudinal and lateral vehicle control for Automated Highway Systems (AHS) are studied together for their coupling effects. It is shown that longitudinal controllers which directly control the wheel slip are inherently more stable, especially during lateral maneuvers on very slippery road conditions, than longitudinal controllers which do not take wheel slip int...

Direct yaw moment control is an effective means to enhance vehicle stability and handling. The majority of the latest direct yaw moment control works employ sliding mode control to generate the target yaw moment. This paper proposes a new sliding mode-based direct yaw moment control method for simultaneous tracking of desired yaw rate and vehicle side-slip for electric and hybrid vehicles equip...

When a microcantilever with a nanoscale tip is scanned laterally over a surface to measure the nanoscale frictional forces, the onset of stick-slip tip motions is an extremely important phenomenon that signals the onset of lateral friction forces. In this article, we investigate theoretically the influence of tip and microcantilever compliance on this phenomenon. We show that static considerati...

Near net shape processing by plasma spray forming (PSF) is a rapid prototyping technique that involves deposition of ceramic coating on the mandrel and its removal as a free-standing structure. This process requires a precise control of the temperature attained by the mandrel during spraying. This article describes the improvement in the accuracy of the temperature prediction of the mandrel by ...

The purpose of this study was to evaluate the effects of three different control methods on driving speed variation and wheel slip of an electric-powered wheelchair (EPW). A kinematic model as well as 3D dynamic model was developed to control the velocity and traction of the wheelchair. A smart wheelchair platform was designed and built with a computerized controller and encoders to record whee...

Control of vehicle traction is of utmost importance in providing safety and obtaining desired vehicle motion in longitudinal and lateral vehicle control. Vehicle traction control systems can be designed to satisfy various objectives of a single vehicle system or a platoon of vehicles in an automated highway system, which include assuring ride quality and passenger comfort. Other objectives are ...

Anti-lock braking system is designed to optimize braking procedure while maintaining automobile steerability through controlling wheels slip. However, due to nonlinearity and uncertainty of ABS structure, designing the controller for wheel slip encounters so many problems which necessitate a robust control system. In this paper, a hybrid controller is proposed for ABS to address this issue. The...