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View article: Adaptive neural tracking control for flexible joint robot including hydraulic actuator dynamics with disturbance observer
Adaptive neural tracking control for flexible joint robot including hydraulic actuator dynamics with disturbance observer Open
In this paper, a disturbance observer‐based adaptive neural backstepping integral sliding mode control (BISMC) is developed for a flexible joint robot (FJR) with the integration of an adjustable stiffness rotary actuator (ASRA). This syste…
View article: Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold
Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold Open
This work presents a finite-time robust path-following control scheme for perturbed autonomous ground vehicles. Specifically, a novel self-tuning nonsingular fast-terminal sliding manifold that further enhances the convergence rate and tra…
View article: Efficient Motion Planning With Minimax Objectives: Synergizing Interval Prediction and Tree-Based Planning
Efficient Motion Planning With Minimax Objectives: Synergizing Interval Prediction and Tree-Based Planning Open
This paper presents an efficient motion planning framework for a perturbed linear system using a minimax objective function while ensuring the safety of the system. Specifically, the proposed approach is naturally deployed to handle model …
View article: An Integrated Motion Planning Scheme for Safe Autonomous Vehicles in Highly Dynamic Environments
An Integrated Motion Planning Scheme for Safe Autonomous Vehicles in Highly Dynamic Environments Open
This study proposes a new integrated approach to the motion control of autonomous vehicles, which differs from the conventional method of treating planning and tracking tasks as separate or hierarchical components. By means of the proposed…
View article: A Direct-Current Triboelectric Nanogenerator Energy Harvesting System Based on Water Electrification for Self-Powered Electronics
A Direct-Current Triboelectric Nanogenerator Energy Harvesting System Based on Water Electrification for Self-Powered Electronics Open
This study aimed to develop a simple but effective mechanical-to-electrical energy conversion for harvesting hydrokinetic energy based on triboelectric nanogenerator (TENG) technology. Here, a direct-current fluid-flow-based TENG is report…
View article: Robust Adaptive Path Tracking Control Scheme for Safe Autonomous Driving via Predicted Interval Algorithm
Robust Adaptive Path Tracking Control Scheme for Safe Autonomous Driving via Predicted Interval Algorithm Open
This paper introduces a robust adaptive path-tracking control scheme via a predicted interval approach for safe autonomous driving tasks under uncertainties. Specifically, a recursive least squares-based set-membership mechanism is firstly…
View article: Robust Fault-Tolerant Control of an Electro-Hydraulic Actuator With a Novel Nonlinear Unknown Input Observer
Robust Fault-Tolerant Control of an Electro-Hydraulic Actuator With a Novel Nonlinear Unknown Input Observer Open
In this paper, a novel adaptive fault-tolerant controller is proposed for a typical electro-hydraulic rotary actuator in the presence of disturbances, internal leakage fault, and sensor fault simultaneously. To construct the suggested cont…
View article: Actuator Fault-Tolerant Control for an Electro-Hydraulic Actuator Using Time Delay Estimation and Feedback Linearization
Actuator Fault-Tolerant Control for an Electro-Hydraulic Actuator Using Time Delay Estimation and Feedback Linearization Open
This article proposes a novel fault-tolerant controller for a double-rod electro-hydraulic actuator whilst the motion control system faces with system disturbances/uncertainties and internal leakage fault. Firstly, taking the advantage of …
View article: A Compact Adjustable Stiffness Rotary Actuator Based on Linear Springs: Working Principle, Design, and Experimental Verification
A Compact Adjustable Stiffness Rotary Actuator Based on Linear Springs: Working Principle, Design, and Experimental Verification Open
Inspired by improving the adaptive capability of the robot to external impacts or shocks, the adjustable stiffness behavior in joints is investigated to ensure conformity with the safety index. This paper proposes a new soft actuation unit…
View article: A New Pathway for Liquid–Solid Triboelectric Nanogenerator Using Streaming Flow by a Novel Direct Charge Transfer
A New Pathway for Liquid–Solid Triboelectric Nanogenerator Using Streaming Flow by a Novel Direct Charge Transfer Open
Herein, a new triboelectric energy‐harvesting method by a direct transfer‐triboelectric nanogenerator (DT‐TENG) in a streaming flow is proposed. Previously, most of the fluid‐based‐triboelectric nanogenerators (Flu‐TENGs) generate the elec…
View article: A Novel Force Sensorless Reflecting Control for Bilateral Haptic Teleoperation System
A Novel Force Sensorless Reflecting Control for Bilateral Haptic Teleoperation System Open
This paper presents a novel force sensorless reflecting controller for a haptic-enabled device driven by a bilateral pneumatic artificial muscle system, which proposed configuration for the first time the bilateral haptic teleoperation. Fo…
View article: A Novel Adaptive Gain Integral Terminal Sliding Mode Control Scheme of a Pneumatic Artificial Muscle System With Time-Delay Estimation
A Novel Adaptive Gain Integral Terminal Sliding Mode Control Scheme of a Pneumatic Artificial Muscle System With Time-Delay Estimation Open
This paper develops a novel adaptive gain integral terminal sliding mode control with time-delay estimation to enhance the control performance of a pneumatic artificial muscle system. The main contribution of the paper is that the proposed…