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Stable handspring maneuvers with passive flight phases: Results from an inverted pendulum-like template
, Article International Journal of Non-Linear Mechanics ; Volume 128 , 2021 ; 00207462 (ISSN) ; Nouriani, A ; Alasty, A ; Sharif University of Technology
Elsevier Ltd
2021
Abstract
Inverted pendulum (IP) has been broadly used to model locomotor systems. In this paper, we demonstrate that an IP-like model could simulate stable periodic handspring maneuvers with passive flight phases. The model is a 2-D symmetric rigid body which is merely controlled during the contact phase. To benefit from an open-loop sensorless strategy, the control policy is implemented only by an unvaried torque input. The system's dynamics is an example of nonlinear impulsive systems studied and analyzed by the Poincaré section method. The numerical results reveal that the stable periodic solutions are sufficiently robust for a broad range of the parameter space. © 2020 Elsevier Ltd
Robust control of regenerative chatter in uncertain milling process with weak nonlinear cutting forces: A comparison with linear model
, Article 9th IFAC Conference on Manufacturing Modelling, Management and Control, MIM 2019, 28 August 2019 through 30 August 2019 ; Volume 52, Issue 13 , 2019 , Pages 1102-1107 ; 24058963 (ISSN) ; Nouriani, A ; Vossoughi, G ; et al.; IFAC TC 1.3. Discrete Event and Hybrid Systems; IFAC TC 3.2. Computational Intelligence in Control; IFAC TC 4.3. Robotics; IFAC TC 5.1. Manufacturing Plant Control; International Federation of Automatic Control (IFAC) - Technical Committee on Manufacturing Modelling for Management and Control, TC 5.2 ; Sharif University of Technology
Elsevier B.V
2019
Abstract
For various types of materials, milling process is extensively used to generate complex shapes with high quality. During the process and to achieve high removal rate, precision and better surface finish, chatter suppression is of great importance. An extended model of the milling process is presented in which the cutting forces are described as a third-order nonlinear function of chip thickness. Uncertainties associated with the process and tool parameters are also included to achieve a more realistic model. To suppress regenerative chatter, an H∞ robust control is designed based on µ-synthesis with DK-iteration algorithm. The controller guarantees the robust stability and performance of...