in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

conjugated polymer actuators can be employed to achieve micro and nano scale precision, and have a wide range of applications including biomimetic robots, and biomedical devices. in comparison to robotic joints, they do not have friction or backlash, but on the other hand, they have complicated electro-chemo-mechanical dynamics which makes modelling and control of the actuator really difficult....

joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. the problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

The present work demonstrates the successful application of a simple active vibration control procedure based on structural dynamics. Based on mathematical and structural dynamics’ theories, the appropriate locations of sensor and actuator locations of the smart structure are predicted. Also, the optimum value of actuator force which controls the structural vibrations as quickly as it is possib...

Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

This paper studies the problem of fault detection and isolation (FDI) for multi-agent systems (MAS) via complex Laplacian subject to actuator faults. A planar formation of point agents in the plane using simple and linear interaction rules related to complex Laplacian is achieved. The communication network is a directed, and yet connected graph with a fixed topology. The loss of symmetry in the...

This paper describes the development of a new piezohydraulic actuator for broadband microjet flow control applications. The actuator utilizes a lead zirconate titanate (PZT) stack actuator and a hydraulic amplification design to achieve relatively large displacements in a compact actuator to control flow through a microjet orifice. Displacement amplification of 81 times the stack actuator displ...

Although model reference adaptive control has been used in numerous applications to achieve system performance without excessive reliance on dynamical system models, the presence of actuator dynamics can seriously limit the stability and the achievable performance of adaptive controllers. In this paper, an linear matrix inequalities-based hedging approach is developed and evaluated for model re...

A stability result is given for hybrid control systems singularly perturbed by fast but continuous actuators. If a hybrid control system has a compact set globally asymptotically stable when the actuator dynamics are omitted, or equivalently, are infinitely fast, then the same compact set is semiglobally practically asymptotically stable in the finite speed of the actuator dynamics. This result...

A fuzzy logic based digital sinusoidal acceleration waveform amplitude controller for a PC based electrodynamic vibration actuator is presented. The fuzzy logic control (FLC) purpose is to reproduce pre-defined sinusoidal acceleration amplitude at the vibration table of a vibration actuator system. Sinusoid vibration profiles (sine and linear sine sweep) are considered for a closed-loop control...