Results 21 to 30 of about 1,926 (224)
IEEE Access, 2022 In robotic manipulators, feedback control of nonlinear systems with fast finite-time convergence is desirable. However, because of the parametric and model uncertainties, the robust control and tuning of the robotic manipulators pose many challenges ...
Khurram Ali +5 more
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IET Control Theory &Applications, Volume 17, Issue 10, Page 1430-1442, July 2023., 2023 This paper proposes a refined anti‐disturbance control method to deal with velocity output constraints and multiple disturbances. The gimbal's maximum velocity is precisely limited to a pre‐specified low range, which benefits the CMG's lifespan and performance.
Yangyang Cui +3 more
wiley +1 more source
Disturbance Recognition and Collision Detection of Manipulator Based on Momentum Observer. [PDF]
Sensors (Basel), 2020 Increasing requirements for the safety of human-robot interaction and the cost-effectiveness of collision detection rapidly promote the development of collision detection technology without torque sensors.
Zhang X, Zhao J, Zhang M, Liu X.
europepmc +2 more sources
Biomimetic Intelligence and Robotics, 2022 The friction force is an important environmental factor that influences dynamic walking. While most of the related works simply assume static friction or Coulomb friction, we use the LuGre friction, which accounts for both static and dynamic effects, to ...
Yanqiu Zheng +5 more
doaj +1 more source
Design of Piezoelectric Inertial Actuator with Wedge‐shaped Foot Structure for Cell Manipulation
Advanced Materials Interfaces, Volume 10, Issue 17, June 16, 2023., 2023 A piezoelectric inertial actuator using the wedge‐shaped foot structure and bimorph films fabricated by micro electromechanical systems (MEMS) technology is proposed in this work. The size of the actuator is small and compact, which is easy to achieve system miniaturization and integration. And the motion of actuator with high precision is stable.
Taofei Long +5 more
wiley +1 more source
LSTM‐based adaptive robust nonlinear controller design of a single‐axis hydraulic shaking table
IET Control Theory &Applications, Volume 17, Issue 7, Page 825-836, April 2023., 2023 The nonlinear system model of the shaking table is estimated by the neural network's universal approximation characteristics and an LSTM network is utilized to optimize the time‐series‐related errors. Furthermore, a robust sliding mode controller is used to compensate for the residual error of the neural network and other uncertainties. The semi‐global
Jiabao Wen, Chengcheng Zhao, Zhiguo Shi
wiley +1 more source
Static Friction in a Cable-Driven Transmission—Modeling and Identification of Load Effects
Lubricants, 2022 Although many friction models have been developed by various researchers over the years, a general model does not exist yet. In this article, we present the work that was developed to identify and propose an empirical model that represents the behavior ...
Giovanni Torres-Charry +1 more
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Stick‐slip and convergence of feedback‐controlled systems with Coulomb friction
Asian Journal of Control, Volume 24, Issue 6, Page 2877-2887, November 2022., 2022 Abstract An analysis of stick‐slip behavior and convergence of trajectories in the feedback‐controlled motion systems with discontinuous Coulomb friction is provided. A closed‐form parameter‐dependent stiction region, around an invariant equilibrium set, is proved to be always reachable and globally attractive.
Michael Ruderman
wiley +1 more source
Earthquake Engineering &Structural Dynamics, Volume 51, Issue 14, Page 3304-3326, November 2022., 2022 Abstract Within the European project e‐SAFE (Energy and Seismic AFfordable rEnovation solutions), this paper presents the experimental tests and modeling attempts for a class of Asymmetric Friction Connections (AFCs) tested in the laboratories of the Norwegian University of Life Sciences. The AFCs are part of the seismic retrofitting solution, called e‐
Francesco Boggian +2 more
wiley +1 more source
Parameter influence law analysis and optimal design of a dual mass flywheel
International Journal of Mechanical System Dynamics, Volume 2, Issue 2, Page 165-177, June 2022., 2022 Abstract The influence of the dynamic parameters of a dual mass flywheel (DMF) on its vibration reduction performance is analyzed, and several optimization algorithms are used to carry out multiobjective DMF optimization design. First, the vehicle powertrain system is modeled according to the parameter configuration of the test vehicle. The accuracy of
Guangqiang Wu, Guoqiang Zhao
wiley +1 more source