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Inspired by the effects of a switching surface on the stability of passive dynamic walking (Safa and Naraghi in Robotica 33(01):195–207, 2015; Safa et al. in Nonlinear Dyn. 81(4):2127–2140, 2015), this paper suggests a new control strategy for stabilization of dynamic bipedal locomotion. It verifies that the stability improvement of a dynamic walking system is feasible while preserving the speed, step-length, period, natural dynamics, and the energy effectiveness of the gait. The proposed control policy goes behind the three primary principles: (i) The system’s switching surface has to be replaced by a new one if an external disturbance is induced. (ii) The new switching surface has to be... 

Inspired by the effects of a switching surface on the stability of passive dynamic walking (Safa and Naraghi in Robotica 33(01):195–207, 2015; Safa et al. in Nonlinear Dyn. 81(4):2127–2140, 2015), this paper suggests a new control strategy for stabilization of dynamic bipedal locomotion. It verifies that the stability improvement of a dynamic walking system is feasible while preserving the speed, step-length, period, natural dynamics, and the energy effectiveness of the gait. The proposed control policy goes behind the three primary principles: (i) The system’s switching surface has to be replaced by a new one if an external disturbance is induced. (ii) The new switching surface has to be... 

This paper investigates the control of tethered satellite formation actuated by electromagnetic dipoles and reaction wheels using the robust sliding mode control technique. Generating electromagnetic forces and moments by electric current coils provides an attractive control actuation alternative for tethered satellite system due to the advantages of no propellant consumption and no obligatory rotational motion. Based on a dumbbell model of tethered satellite in which the flexibility and mass of the tether is neglected, the equations of motion in Cartesian coordinate are derived. In this model, the J2 perturbation is taken into account. The far-field and mid-field models of electromagnetic... 

Fuzzy Control of rowing exercise using Functional Electrical Stimulation (FES) concerns ankle, knee and hip joints. Muscular Modeling for each joint may contain two groups of muscles, namely extension and flexion. In the proposed method, joint controllers provide electrical stimulation pulses to the appropriate muscle group based on the trajectory error and according to a prescribed pattern designed for rowing exercise. Results indicate that the simulated Fuzzy control of desired angles closely match the experimental values for prescribed joints. Moreover, the robustness of the controller in presence of external disturbance is examined and the results show that the tracking of each joint... 

With the exception of a few works, the current approaches to aerial manipulation control do not typically consider the system constraints in the control design process. Also, the issue of closed-loop stability in the presence of system constraints is not thoroughly analyzed. In this paper, a novel multi-stage model predictive control (MPC)-based approach for aerial manipulation is proposed to ensure the closed-loop stability in the presence of model uncertainties and external disturbances, while satisfying the operational constraints. The detailed nonlinear model of a general aerial manipulator, consisting of a quadrotor equipped with a 3 degrees of freedom manipulator, is first developed... 

We consider a class of continuous-Time hybrid dynamical systems that correspond to subgradient flows of a piecewise linear and convex potential function with finitely many pieces, and which includes the fluid-level dynamics of the Max-Weight scheduling policy as a special case. We study the effect of an external disturbance/perturbation on the state trajectory, and establish that the magnitude of this effect can be bounded by a constant multiple of the integral of the perturbation. © 1963-2012 IEEE  

In this paper, based on a stability theorem proved for linear fractional-order systems, a scheme for robust synchronization of two perturbed fractional-order Chen systems is proposed. In the proposed scheme, both master and slave systems are considered to be involved with external disturbances having unknown values. It is analytically shown that any set of bounded external disturbances can be damped by the proposed method, where synchronization error will be forced and then kept inside a ball around the origin. Since during the design procedure the radius of this ball could be easily chosen by the designer, the synchronization can be done with any desired accuracy. The proposed method can be... 

The purpose of this work is to decrease coupling effects of a tactical missile by designing a robust autopilot for its roll channel. In tactical STT missiles due to control strategy, in order to execute acceleration commands, roll angular velocity should be kept close to zero. Generally, in the design of autopilot for many of tactical missiles the inter influences of channels is neglected. However, three channels of the missile impact each other in different ways including kinematic, inertia and aerodynamic couplings. Aerodynamic coupling is a dominant in roll channel dynamics appearing as induced and control cross coupling roll moments. In this paper first the coupling terms are modeled... 

For simulating the surgical procedures in a virtual environment, it is necessary to propose a suitable virtual environment model which can reflect the real physical tool-tissue interaction behavior and a proper human user interface appropriate dynamic model. In this study, a linear Kelvin-Voigt and a nonlinear Hunt-Crossley models have been utilized to describe human hand dynamics during interaction with a haptic interface. Using the Lyapunov stability criteria, an adaptive neural network based controller being designed for guaranteeing the stability of the entire system, considering a nonlinear model for the environment, an inertia for a virtual tool, a constant time delay for data... 

In this paper, a class of uncertain piecewise affine (PWA) systems, subject to system and measurement external disturbances are studied. The uncertainties are assumed to be norm bounded and the external disturbance signals belong to the L2 space. The problem of optimizing the system response in the H?sense, by means of a piecewise affine observer-controller, is formulated as an optimization problem subject to a number of constraints in the form of matrix inequalities. The derived constraints are obtained by considering a partially piecewise quadratic Lyapunov function in combination with the general conditions for H?stability. Then the uncertain PWA approximation of the nonlinear attitude... 

This article presents a robust adaptive fractional order proportional integral derivative controller for a class of uncertain fractional order nonlinear systems using fractional order sliding mode control. The goal is to achieve closed-loop control system robustness against the system uncertainty and external disturbance. The fractional order proportional integral derivative controller gains are adjustable and will be updated using the gradient method from a proper sliding surface. A supervisory controller is used to guarantee the stability of the closed-loop fractional order proportional integral derivative control system. Finally, fractional order Duffing–Holmes system is used to verify... 

In this work, we study the flocking problem of multi-agent systems with uncertain dynamics subject to actuator failure and external disturbances. By considering some standard assumptions, we propose a robust adaptive fault tolerant protocol for compensating of the actuator bias fault, the partial loss of actuator effectiveness fault, the model uncertainties, and external disturbances. Under the designed protocol, velocity convergence of agents to that of virtual leader is guaranteed while the connectivity preservation of network and collision avoidance among agents are ensured as well. © 2017 ISA  

Predictive functional control (PFC) as a new active queue management (AQM) method in dynamic TCP networks supporting explicit congestion notification (ECN) is proposed. The ability of the controller in handling system delay along with its simplicity and low computational load makes PFC a privileged AQM method in the high speed networks. Besides, considering the disturbance term (which represents model/process mismatches, external disturbances, and existing noise) in the control formulation adds some level of robustness into the PFC-AQM controller. This is an important and desired property in the control of dynamically-varying computer networks. In this paper, the controller is designed based... 

This paper reports a hybrid intelligent controller for application in single axis MEMS vibratory gyroscopes. First, unknown parameters of a micro gyroscope including unknown time varying angular velocity are estimated online via normalized continuous time least mean squares algorithm. Then, an additional interval type-2 fuzzy sliding mode control is incorporated in order to match the resonant frequencies and to compensate for undesired mechanical couplings. The main advantage of this control strategy is its robustness to parameters uncertainty, external disturbance and measurement noise. Consistent estimation of parameters is guaranteed and stability of the closed-loop system is proved via... 

This paper reports a hybrid intelligent controller for application in single axis MEMS vibratory gyroscopes. First, unknown parameters of a micro gyroscope including unknown time varying angular velocity are estimated online via normalized continuous time least mean squares algorithm. Then, an additional interval type-2 fuzzy sliding mode control is incorporated in order to match the resonant frequencies and to compensate for undesired mechanical couplings. The main advantage of this control strategy is its robustness to parameters uncertainty, external disturbance and measurement noise. Consistent estimation of parameters is guaranteed and stability of the closed-loop system is proved via... 

In this article, two adaptive model predictive controllers (AMPC) are applied to regulate the blood glucose in type 1 diabetic patients. The first controller is constructed based on a linear model, while the second one is designed by using a nonlinear Hammerstein model. The adaptive version of these control schemes is considered to make them more robust against model mismatches and external disturbances. The least squares method with forgetting factor is used to update the model parameters. For simulation study, two well-known mathematical models namely, Puckett and Hovorka which describe the dynamical behavior of patient's body have been selected. The performances and robustness of the... 

In this paper we propose a method towards purity control of pressure swing adsorption (PSA) processes which is based on the use of hybrid systems formalism. Hybrid systems feature both continuous and discrete-event dynamics and hence are very suited to describe in detail PSA processes. Based on mechanistic model of the processes, a local reduced-order model (LROM) is developed for PSA processes. Then the processes are represented as hybrid systems whose continuous evolution is described by the LROM. We then perform an analysis of hybrid reachability properties of the hybrid system obtained, based on which the so-called maximal safe set is computed. The analysis is performed for a two-bed,... 

Most of the biped robots are controlled using pre-computed trajectory methods or methods based on multi-body dynamics models. The pre-computed trajectory-based methods are simple; however, a system becomes highly vulnerable to the external disturbances. In contrast, dynamic methods make a system act faster, yet extensive knowledge is required about the kinematics and dynamics of the system. This fact gave rise to the main purpose of this study, i.e., developing a controller for a biped robot to take advantage of the simplicity and computational efficiency of trajectory-based methods and the robustness of the dynamic-based approach. To do so, this paper presents a two-layer hierarchical...