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Full-Text Articles in Mechanical Engineering

Formation Control Of Nonholonomic Multi-Agent Systems, Milad Khaledyan Jun 2018

Formation Control Of Nonholonomic Multi-Agent Systems, Milad Khaledyan

LSU Doctoral Dissertations

This dissertation is concerned with the formation control problem of multiple agents modeled as nonholonomic wheeled mobile robots. Both kinematic and dynamic robot models are considered. Solutions are presented for a class of formation problems that include formation, maneuvering, and flocking. Graph theory and nonlinear systems theory are the key tools used in the design and stability analysis of the proposed control schemes. Simulation and/or experimental results are presented to illustrate the performance of the controllers.

In the first part, we present a leader-follower type solution to the formation maneuvering problem. The solution is based on the graph that ...


Nonlinear Model-Based Control For Neuromuscular Electrical Stimulation, Ruzhou Yang Nov 2017

Nonlinear Model-Based Control For Neuromuscular Electrical Stimulation, Ruzhou Yang

LSU Doctoral Dissertations

Neuromuscular electrical stimulation (NMES) is a technology where skeletal muscles are externally stimulated by electrodes to help restore functionality to human limbs with motor neuron disorder. This dissertation is concerned with the model-based feedback control of the NMES quadriceps muscle group-knee joint dynamics. A class of nonlinear controllers is presented based on various levels of model structures and uncertainties. The two main control techniques used throughout this work are backstepping control and Lyapunov stability theory.

In the first control strategy, we design a model-based nonlinear control law for the system with the exactly known passive mechanical that ensures asymptotical tracking ...