Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 127 N° 4. Journal of Dynamic Systems, Measurement, and Control - Décembre 2005
| Titre : | Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 127 N° 4. Journal of Dynamic Systems, Measurement, and Control - Décembre 2005 |
| Type de document : | Bulletin |
| Paru le : | 18/12/2006 |
Dépouillements
Article : texte imprimé
Khan, Waseem, Auteur ;
Krovi, Venkat N., Auteur ;
Saha, Subir K. ;
Angeles, Jorge
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We focus on the development of modular and recursive formulations for the inverse dynamics of parallel architecture manipulators in this paper. The modular formulation of mathematical models is attractive especially when existing sub-models may [...]
Article : texte imprimé
Stevens, Jason M., Auteur ;
Buckner, Gregory D., Auteur
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During the past 20 years, tremendous advancements have been made in the fields of minimally invasive surgery (MIS) and minimally invasive, robotically assisted (MIRA) cardiac surgery. Benefits from MIS include reduced pain and trauma, reduced r[...]
Article : texte imprimé
Jui, Kevin C. K., Auteur ;
Sun, Qiao, Auteur
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Parallel manipulators are uncontrollable at force singularities due to the infeasibly high actuator forces required. Existing remedies include the application of actuation redundancy and motion planning for singularity avoidance. While actuation[...]
Article : texte imprimé
Pushparaj Mani, Pathak, Auteur ;
Dasgupta, Anirvan ;
Amalendu, Mukherjee, Auteur
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Impedance control is an efficient and stable method of providing trajectory and force control in robotic systems. The procedure by which the impedance of the manipulator is changed is a very important aspect in the design of impedance based cont[...]
Article : texte imprimé
Halevi, Yoram, Auteur
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A method of noncollocated controller design for flexible structures, governed by the wave equation, is proposed. First an exact, infinite dimension, transfer function is derived and its properties are investigated. A key element in that part is [...]
Article : texte imprimé
Genç, A. Umut, Auteur ;
Glover, Keith, Auteur
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A control-oriented air-fuel ratio path model is developed to represent a spark-ignited, port-fuel-injected, twin-independent variable cam timing engine. Following a recent publication [Genç et al., SAE 2002-01-2752 (2002)] showing that cam timin[...]
Article : texte imprimé
Tingshu, Hu, Auteur ;
Zongli, Lin, Auteur ;
Jiang, Lin ;
Allaire, Paul E.
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We study control problems in magnetic bearing systems that are subject to both input and state constraints. Apart from the usual restrictions on voltages and currents in the circuit systems, most magnetic bearing systems are subject to a severe [...]
Article : texte imprimé
Horban, Blaise A., Auteur ;
Fahrenthold, Eric P., Auteur
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Conventional models of high velocity impact dynamics rely on approximate solutions of the governing partial differential equations for an elastic-plastic continuum, developed using weighted residual, finite difference, or other techniques preval[...]
Article : texte imprimé
Shuguang, Huang, Auteur ;
Schimmels, Joseph M., Auteur
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This paper addresses methods for determining the motion of an elastically suspended rigid body in frictional contact at multiple distinct locations. The methods developed assume that: (1) The motion of the support from which the body is suspende[...]
Article : texte imprimé
Li, P. Y., Auteur ;
Ngwompo, R. F., Auteur
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In many applications that require physical interaction with humans or other physical environments, passivity is a useful property to have in order to improve safety and ease of use. Many mechatronic applications (e.g., teleoperators, robots that[...]
Article : texte imprimé
Kuo-Chin, Chan, Auteur ;
Jong-Lick, Lin, Auteur
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In literature, it is shown by Åström et al. that a sampled system may become nonminimum phase for sufficiently fast sampling, even though the continuous-time system is minimum phase. However, it is verified in this paper that the sampled system [...]
Article : texte imprimé
Demetriou, Michael A., Auteur ;
Kazantzis, Nikolaos, Auteur
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Our aim in the present research study is to develop a systematic natural observer design framework for vector second-order systems in the presence of time-scale multiplicity. Specifically, vector second-order mechanical systems are considered al[...]
Article : texte imprimé
Changchun, Hua, Auteur ;
Xinping, Guan, Auteur ;
Peng, Shi
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The problem of robust stabilization for a class of time-varying nonlinear large-scale systems subject to multiple time-varying delays in the interconnections is considered. The interconnections satisfy the match condition, and are bounded by non[...]
Article : texte imprimé
Shu Li, Sun, Auteur ;
Deng, Zi-Li, Auteur
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An optimal information fusion criterion weighted by scalars is presented in the linear minimum variance sense. Based on this fusion criterion, a scalar weighting information fusion decentralized Kalman filter is given for discrete time-varying l[...]
Article : texte imprimé
Rong Zhang, Auteur ;
Alleyne, Andrew G., Auteur ;
Don E. Carter
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In this work we introduce a methodology for the design of multivariable gain-scheduled controllers for nonlinear systems and an approach for determining the local stability of a nonlinear closed loop system. The gain-scheduled global control is [...]
Article : texte imprimé
Parsa, Kourosh, Auteur ;
Angeles, Jorge, Auteur ;
Misra, Arun K.
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A full-pose, position and orientation, trajectory-tracking control of kinematically redundant flexible-macro-rigid-micro manipulators is proposed. Redundancy is resolved such that the forces exciting the lowest-frequency "modal coordinates" of t[...]
Article : texte imprimé
Joshi, Alok, Auteur ;
Won-Jon, Kim, Auteur
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A mathematical model of a six-degree-of-freedom (6-DOF) hexapod system for vibration isolation was derived in the discrete-time domain on the basis of the experimental data obtained from a satellite. Using a Box–Jenkins model structure, the tran[...]
Article : texte imprimé
Jih-Lian, Ha, Auteur ;
Rong-Fong, Fung, Auteur ;
Yi-Chan, Chen
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The objective of this paper is to formulate the equations of motion and to analyze the vibrations of an atomic force microscope (AFM), which contains a piezoelectric rod coupling with a cantilever beam, and the tip mass interacting with samples.[...]
Article : texte imprimé
Oucheriah, Said, Auteur
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This brief deals with the stabilization of a class of time-delay systems subject to external disturbance vectors whose bounds are not known. A continuous adaptive variable structure controller is synthesized to guarantee that the motions of the [...]
Article : texte imprimé
Chein-Chung, Sun, Auteur ;
Hung-Yuan, Chung, Auteur
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This paper is concerned with the synthesis of a mixed H2/H[infinity] robust static output feedback with a bounded control bandwidth for continuous-time uncertainty systems. To this end, genetic algorithms and a linear matrix inequality solver ar[...]
Article : texte imprimé
Chang-Hua, Lien, Auteur ;
Yi-You, Hou, Auteur
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In this paper, the robust guaranteed cost observer-based controls for a class of uncertain time-delay systems are considered. The linear matrix inequality approach is used to design the feedback controls. Optimal guaranteed cost observer-based c[...]
Article : texte imprimé
Laiou, Maria-Christina, Auteur ;
Astolfi, Alessandro, Auteur
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A variety of stabilization methods for nonlinear systems in chained form can be found in the literature. However, very few results exist in the area of systematically converting a general nonlinear system with two inputs to a chained form. This [...]
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