Bio-inspired standing balance controller for a full-mobilization exoskeleton
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A new method for the design of fixed-order Linear Parameter Varying (LPV) controllers with polytopic representation for LTI plants is proposed. The stability constraints for the closed-loop system are presented through a set of Linear Matrix Inequalities ( ...
In many industrial applications, finding a model from physical laws that is both simple and reliable for control design is a hard and time-consuming undertaking. When a set of input/output (I/O) measurements is available, one can derive the controller dire ...
Purpose – Intelligent control for unidentified systems with unstable equilibriums is not always a proper control strategy, which results in inferior performance in many cases. Because of the existing trial and error manner of the procedure in former durati ...
In this paper a new method for fixed-order output-feedback Linear Parameter Varying (LPV) controller design is presented. First, a set of stabilizing LPV controllers is given as an inner convex approximation of the non-convex set of all stabilizing LPV con ...
Recent studies show that emotion is a mechanism for fast decision-making in human and other animals. Mathematical models have been developed for describing emotion in mammals. These models, similar to other bio-inspired models, must be implemented in embed ...
A new frequency-domain robust control toolbox is introduced and compared with some features of the robust control toolbox of Matlab. A summary of the theoretical background for H-infinity controller design using the spectral models is given. The main advan ...
The control of the current, position and shape of an elongated cross-section tokamak plasma is complicated by the instability of the plasma vertical position. In this case the control becomes a significant problem when saturation of the power supplies is c ...
Thermal balancing and reducing hot-spots are two important challenges facing the MPSoC designers. In this work, we model the thermal behavior of a MPSoC as a control theory problem which enables the design of an optimum frequency controller without dependi ...
In this contribution we present experiments of an adaptive locomotion controller on a compliant quadruped robot. The adaptive controller consists of adaptive frequency oscillators in different configurations and produces dynamic gaits such as bounding and ...
The control of the current, position and shape of an elongated cross-section tokamak plasma is complicated by the so-called instability of the current vertical position. Linearized models all share the feature of a single unstable eigenmode, attributable t ...