Results 71 to 80 of about 8,788 (300)
Induced Norm-Based Analysis for Computed Torque Control of Robot Systems
IEEE Access, 2020 This paper is concerned with providing a new quantitative analysis method of computed torque control of robot systems by using three types of induced norm. This paper first considers design of a computed torque controller to achieve a trajectory tracking
Jung Hoon Kim, Sung-Moon Hur
doaj +1 more source
Disturbance observer-based adaptive position control for a cutterhead anti-torque system.
, 2022 To conveniently replace worn cutterhead tools in complicated strata, a novel cutterhead attitude control mechanism was recently designed. Meanwhile, the mechanism also causes an engineering problem of how to control a matching cutterhead anti-torque ...
Jinhui Fang +4 more
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Advanced Robotics Research, EarlyView.A codesign multiobjective optimization framework was developed to enhance the morphology and controller of a snake‐like robot driven by artificial muscles. It improved planar locomotion, agility, and power efficiency. The approach optimized link geometry and controller gains, revealing that shorter muscles near joints and longer linkages maximize ...
Ayla Valles, Mahdi Haghshenas‐Jaryani
wiley +1 more source
Gong-kuang zidonghua, 2013 In view of problems of big torque fluctuation and easy to be influenced by load change existed in direct torque control system of permanent magnet synchronous motor based on PI controller, the paper designed an active disturbance rejection controller ...
YANG Jie, HUANG Ku
doaj
Collision‐Resilient Winged Drones Enabled by Tensegrity Structures
Advanced Robotics Research, EarlyView.Based on structures of birds such as the woodpeck, this article presents the collision‐resilient aerial robot, SWIFT. SWIFT leverages tensegrity structures in the fuselage and wings which allow it to undergo large deformations in a crash, without sustaining damage. Experiments show that SWIFT can reduce impact forces by 70% over conventional structures.
Omar Aloui +5 more
wiley +1 more source
IEEE Access, 2020 This paper proposes an extended model based predictive flux control (MPFC) with modified disturbance observer speed loop for induction motors. The main advantages of the proposed method are the improvement of load estimation, the suppression of current ...
Muhammad Abbas Abbasi +5 more
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This paper proposes a new design of a speed regulator loop based on a reduced-order fractionalized proportional-integral controller (ROFrPI) for direct torque control (DTC) of a dual-star induction motor drive with less harmonics in order to improve ...
Bekheira Tabbache +3 more
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Hard‐Magnetic Soft Millirobots in Underactuated Systems
Advanced Robotics Research, EarlyView.This review provides a comprehensive overview of hard‐magnetic soft millirobots in underactuated systems. It examines key advances in structural design, physics‐informed modeling, and control strategies, while highlighting the interplay among these domains.
Qiong Wang +4 more
wiley +1 more source
A Review on Sensor Technologies, Control Approaches, and Emerging Challenges in Soft Robotics
Advanced Robotics Research, EarlyView.This review provides an introspective of sensors and controllers in soft robotics. Initially describing the current sensing methods, then moving on to the control methods utilized, and finally ending with challenges and future directions in soft robotics focusing on the material innovations, sensor fusion, and embedded intelligence for sensors and ...
Ean Lovett +5 more
wiley +1 more source
The compressibility of air, the uncertainty of dynamic models, and the existence of friction make pneumatic servo systems exhibit strong nonlinearity. Furthermore, the confluence of pneumatic-system nonlinearity and interference from the position system ...
Zilong Wu +4 more
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