Robust Tracking Control of Wheeled Mobile Robot Based on Differential Flatness and Sliding Active Disturbance Rejection Control: Simulations and Experiments.

This paper proposes a robust tracking control method for wheeled mobile robot (WMR) against uncertainties, including wind disturbances and slipping. Through the application of the differential flatness methodology, the under-actuated WMR model is transformed into a linear canonical form, simplifying the design of a stabilizing feedback controller. To handle uncertainties from wheel slip and wind disturbances, the proposed feedback controller uses sliding mode control (SMC).

Model Predictive Control with Integrated Model Reduction for a Continuous Lactide Ring-Opening Polymerization Process.

Poly(lactic acid) production has received increasing attention, mainly due to its inherent biodegradable thermoplastic properties and to its renewable-resource-based composition. This process is affected by changes in the operating conditions and by raw material impurities which influence the reaction rate and degrade the polymer properties. As the system model is multivariable with coupled dynamics and constraints, linear model predictive control (LMPC) is employed here.

A New Mathematical Force Model that Predicts the Force-pulse Amplitude Relationship of Human Skeletal Muscle.

Current functional electrical stimulation (FES) systems vary the stimulation intensity to control the muscle force in order to produce precise functional movements. However, mathematical model that predicts the intensity effect on the muscle force is required for model-based controller design. The most previous force model designed by Ding et al was validated only for a standardized stimulation pulse amplitude (intensity).

An approach to a muscle force model with force-pulse amplitude relationship of human quadriceps muscles.

Background: Recent advanced applications of the functional electrical stimulation (FES) mostly used closed-loop control strategies based on mathematical models to improve the performance of the FES systems. In most of them, the pulse amplitude was used as an input control. However, in controlling the muscle force, the most popular force model developed by Ding et al.

Truncation effects on muscular fatigue indexes based on M waves analysis.

In this paper, we investigate muscular fatigue. We propose a new fatigue index based on the continuous wavelet transform (CWT) and compare it with the standard fatigue indexes from literature. Fatigue indexes are all based on the electrical activity of muscles (electromyogram) acquired during an electrically stimulated contraction (ES).