Network-based control system to compensate the input delay and minimize energy expenditure of a cooling plant

Rodríguez-Guerrero, Liliam; Santos‐Sánchez, Omar; Velasco-Rebollo, Rodrigo E.; Garcia-Samperio, Cesar A.

doi:10.1109/iceee.2018.8533903

Cited by 1 publication

(1 citation statement)

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“…The control strategy used in this paper is given in [34], where it is mentioned that a PI control is the correct feedback regulator for first-order plants with an input delay. An application of this type of control is presented in [45]. It is important to emphasize that the derivative part of the controller is not employed, as oscillations in the closed-loop finger response are not desire.…”

Section: Mathematical Model and Finger's Identificationmentioning

confidence: 99%

Optimal Control and Grasping for a Robotic Hand with a Non-linked Double Tendon Arrangement

Sánchez-Garnica,

Rodríguez-Guerrero,

Ortega-Palacios

et al. 2024

IEEE Latin Am. Trans.

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After comparing different robotic hand projects, a problem is identified: when a finger has a degree of freedom, the hand is unable to grasp irregularly shaped objects. This article proposes a solution. The use of a non-linked doubletendon arrangement in the fingers allows them to have free movement; coupled with the use of Inertial Measurement Units to determine its position, ensures that, despite having one degree of freedom per finger, the hand can effectively grasp irregular objects. Additionally, a web application is developed to control hand movements through voice commands. Finally, due to the necessity for these types of devices to be mobile, an optimal control law is used to minimize energy consumption, thereby increasing autonomy when the hand is powered by batteries. As an additional note, the conducted experiments reveal that the movement of all fingers occurs simultaneously, demonstrating that parallel multitasking programming techniques effectively fulfill that purpose.

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Section: Mathematical Model and Finger's Identificationmentioning

confidence: 99%