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Full-Text Articles in Physical Sciences and Mathematics
Manipulation Skills Acquisition Through State Classification And Dimension Decrease, S. Dong, F. Naghdy
Manipulation Skills Acquisition Through State Classification And Dimension Decrease, S. Dong, F. Naghdy
Professor Fazel Naghdy
The work carried out to explore the feasibility of reconstructing human constrained motion manipulation skills is reported. This is achieved by tracing and learning the manipulation performed by a human operator in a haptic rendered virtual environment. The peg-in-hole insertion problem is used as a case study. In the developed system, force and position variables generated in the haptic rendered virtual environment combined with a priori knowledge about the task are used to identify and learn the skills in the newly demonstrated task. The data obtained from the virtual environment is classified into different cluster sets using Fuzzy Gustafson-Kessel Model …
Velocity-Dependent Robust Control For Improving Vehicle Lateral Dynamics, Haiping Du, N. Zhang, Fazel Naghdy
Velocity-Dependent Robust Control For Improving Vehicle Lateral Dynamics, Haiping Du, N. Zhang, Fazel Naghdy
Professor Fazel Naghdy
In this paper, a yaw moment controller of which parameters are dependent on the vehicle forward velocity is designed for improving vehicle handling and stability. Robustness of the controller is enhanced with considering the parameter uncertainties arising from tyre cornering stiffness and the actuator saturation limitations resulting from some physical constraints and tyre–road conditions into the controller design process. The design of the controller is achieved by solving finite numbers of linear matrix inequalities (LMIs). Effectiveness of the designed controller is shown through numerical simulations performed on a nonlinear vehicle model. Improved performance on vehicle handling and stability can be …
Actuator Saturation Control Of Uncertain Structures With Input Time Delay, Haiping Du, N. Zhang, Fazel Naghdy
Actuator Saturation Control Of Uncertain Structures With Input Time Delay, Haiping Du, N. Zhang, Fazel Naghdy
Professor Fazel Naghdy
This paper presents a robust saturation control approach for active vibration attenuation of building structures involving parameter uncertainties and input time delay. The parameter uncertainties are described in both polytopic and norm-bounded forms and represent the variations of floor masses, stiffnesses and damping coefficients. The input time delay can be time-varying within a known bound. In terms of the feasibility of certain delay-dependent linear matrix inequalities (LMIs), a state feedback controller can be designed to guarantee the robust stability and performance of the closed-loop system in the presence of parameter uncertainties, actuator saturation, and input time delay. The effectiveness of …