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RISControl of Continuous Time Chaotic Systems With Unknown Dynamics and Limitation on State Measurement
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper has dedicated to study the control of chaos when the system dynamics is unknown and there are some limitations on measuring states. There are many chaotic systems with these features occurring in many biological, ...
Vibration Suppression of a Strain Gradient Microscale Beam Via an Adaptive Lyapunov Control Strategy
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Vibration suppression of a strain gradient Euler–Bernoulli beam in presence of disturbance and uncertainties is considered in this investigation. Vibration of the system is suppressed by an adaptive boundary controller ...
Nonlinear Bilateral Adaptive Impedance Control With Applications in Telesurgery and Telerehabilitation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A bilateral nonlinear adaptive impedance controller is proposed for the control of multidegreesoffreedom (DOF) teleoperation systems. In this controller, instead of conventional position and/or force tracking, the impedance ...
Motion Analysis of a Vibrational Microrobot With Two Perpendicular Harmonic Actuators and Deriving the Design Parameters in Stick–Slip Mode
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, the stick–slip motion of a microrobot with two perpendicular vibrational actuators is studied. This motion is based on the friction drive principle. To determine the effective parameters in the motion of ...
Nonlinear Optimal Control of Planar Musculoskeletal Arm Model With Minimum Muscles Stress Criterion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, the optimal performance of a planar humanlike musculoskeletal arm is investigated during reaching movements employing an optimal control policy. The initial and final states (position and velocity) are the ...
Human Arm Motion Tracking by Orientation Based Fusion of Inertial Sensors and Kinect Using Unscented Kalman Filter
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Due to various applications of human motion capture techniques, developing lowcost methods that would be applicable in nonlaboratory environments is under consideration. MEMS inertial sensors and Kinect are two lowcost ...
Stable Nonlinear Trilateral Impedance Control for Dual-User Haptic Teleoperation Systems With Communication Delays
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A new nonlinear adaptive impedance-based trilateral controller is proposed to ensure the absolute stability of multi-degrees-of-freedom (DOFs) dual-user haptic teleoperation systems subjected to communication delays. Using ...
Lyapunov Based Boundary Control of Strain Gradient Microscale Beams With Exponential Decay Rate
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In nonclassical microbeams, the governing partial differential equation (PDE) of the system and corresponding boundary conditions are obtained based on the nonclassical continuum mechanics. In this study, exponential decay ...
Control of Discrete Time Chaotic Systems via Combination of Linear and Nonlinear Dynamic Programming
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this article by introducing and subsequently applying the Min–Max method, chaos has been suppressed in discrete time systems. By using this nonlinear technique, the chaotic behavior of Behrens–Feichtinger model is ...
Patient-Robot-Therapist Collaboration Using Resistive Impedance Controlled Tele-Robotic Systems Subjected to Time Delays
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, an approach to physical collaboration between a patient and a therapist is proposed using a bilateral impedance control strategy developed for delayed tele-robotic systems. The patient performs a tele-rehabilitation ...