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RISAnalysis and Design of Manipulators With Decoupled and Configuration-Invariant Inertia Tensors Using Remote Actuation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The dynamics of manipulators with diagonal and/or constant inertia tensors are described by simple differential equations. This feature greatly simplifies the control of high speed manipulators. ...
Stability of Uncertain Linear Systems With Time Delay
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The control of systems with uncertain dynamics and unpredictable disturbances has raised some challenging problems. This is particularly important when high system performance is to be guaranteed ...
Analysis of Linear Time Invariant Systems With Time Delay
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Time Delay Control has recently been suggested as an alternative scheme for control of systems with unknown dynamics and unpredictable disturbances. The proposed control algorithm does not require ...
Dynamic Analysis and Control of High Speed and High Precision Active Magnetic Bearings
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The successful operation of actively controlled magnetic bearings depends greatly on the electromechanical design and control system design. The function of the controller is to maintain bearing ...
Modeling, Experimentation and Simulation of a Brake Apply System
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This study presents the development and validation of an analytical dynamic model of the brake apply system of a vehicle. The brake apply system includes the models for brake pedal, vacuum ...
Impact and Force Control: Modeling and Experiments
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Robot manipulators and drive systems can experience instability or poor control performance after impacting with an environment. This paper presents an analytical model for impact which is ...
On Relative Degrees and Zero Dynamics From Physical System Modeling
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Relative degrees and zero dynamics are intrinsic system properties associated with a given input-output pair. In the design of output tracking controllers, the relative degree and the stability ...
Adaptive Control of Nonlinear, Uncertain Systems Using Local Function Estimation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: An adaptive control scheme is proposed for controlling a certain class of nonlinear, uncertain systems. When a local approximation of the system function using its Taylor’s expansion is possible, ...
Zero Dynamics of Physical Systems From Bond Graph Models—Part I: SISO Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Zero dynamics is an important feature in system analysis and controller design. Its behavior plays a major role in determining the performance limits of certain feedback systems. Since the ...
Zero Dynamics of Physical Systems From Bond Graph Models—Part II: MIMO Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Zero dynamics is an important feature in system analysis and controller design. Its behavior plays a major role in determining the performance limits of certain feedback systems. Since the ...