Jove
Visualize
联系我们
JoVE
x logofacebook logolinkedin logoyoutube logo
关于 JoVE
概览领导团队博客JoVE 帮助中心
作者
出版流程编辑委员会范围与政策同行评审常见问题投稿
图书馆员
用户评价订阅访问资源图书馆顾问委员会常见问题
研究
JoVE JournalMethods CollectionsJoVE Encyclopedia of Experiments存档
教育
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab Manual教师资源中心教师网站
使用条款与条件
隐私政策
政策

相关概念视频

Open and closed-loop control systems01:17

Open and closed-loop control systems

1.5K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.5K
Controller Configurations01:22

Controller Configurations

339
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
339
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

785
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
785
Feedback control systems01:26

Feedback control systems

676
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
676
PD Controller: Design01:26

PD Controller: Design

595
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
595
PID Controller01:19

PID Controller

631
Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
631

您也可能阅读

相关文章

通过共同作者、期刊和引用图与本文相关的文章。

排序
Same author

A Lightweight Wrist Exoskeleton With Equivalent-Input-Disturbance-Based Control for Pathological Tremor Suppression.

IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society·2026
Same author

High-Precision Control for a Stewart Platform With Prescribed Disturbance-Rejection Performance.

IEEE transactions on cybernetics·2026
Same author

Multi-step prediction of blast furnace permeability index based on multi-time-scale analysis.

ISA transactions·2025
Same author

Humanoid finger with rigid-flexible-soft structure.

Nature communications·2025
Same author

Advanced Anti-Swing Control of a Multirotor UAV Equipped With a Manipulator: A System Dynamics and Online Compensation Approach.

IEEE transactions on cybernetics·2025
Same author

Trajectory Tracking Control Employing Nonlinear Compensator and State Observer for Photothermal-Driven Liquid Crystal Elastomer Actuator.

IEEE transactions on cybernetics·2025
Same journal

A New Human-Likeness and Comfort Index for Robot Movements Along Prescribed Paths.

IEEE transactions on cybernetics·2026
Same journal

Robust Semiglobal and Global Stabilization for Nonlinear Normal Form Systems by Time-Varying Feedback.

IEEE transactions on cybernetics·2026
Same journal

Adaptive Global Asymptotic Output Stabilization of Uncertain Nonlinear Systems Under Dynamic State/Input Quantization.

IEEE transactions on cybernetics·2026
Same journal

Accelerated Distributed Gradient Tracking for Constrained Aggregative Optimization Over Time-Varying Digraphs.

IEEE transactions on cybernetics·2026
Same journal

Small-Gain-Based Plug-and-Play Distributed Control Framework for DC Microgrids With Decentralized Reconfiguration.

IEEE transactions on cybernetics·2026
Same journal

Prescribed-Time Impulsive Control of High-Order Integrator Systems.

IEEE transactions on cybernetics·2026
查看所有相关文章

相关实验视频

Updated: Jan 10, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

12.1K

具有软驱动器的连续机器人的双闭环自适应位置控制方法.

Shiying Zhao, Qingxin Meng, Xuzhi Lai

    IEEE transactions on cybernetics
    |November 21, 2025
    PubMed
    概括
    此摘要是机器生成的。

    带有软驱动器的连续机器人 (CR) 现在可以实现精确的端点位置控制. 一种新的双闭环自适应方法提高了复杂环境中的安全性和适应性.

    更多相关视频

    Operation of the Collaborative Composite Manufacturing CCM System
    10:09

    Operation of the Collaborative Composite Manufacturing CCM System

    Published on: October 1, 2019

    7.0K
    Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
    07:40

    Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

    Published on: June 10, 2020

    15.2K

    相关实验视频

    Last Updated: Jan 10, 2026

    The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
    11:53

    The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

    Published on: October 14, 2017

    12.1K
    Operation of the Collaborative Composite Manufacturing CCM System
    10:09

    Operation of the Collaborative Composite Manufacturing CCM System

    Published on: October 1, 2019

    7.0K
    Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
    07:40

    Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

    Published on: June 10, 2020

    15.2K

    科学领域:

    • 机器人技术 机器人技术 机器人技术
    • 控制系统工程 控制系统工程
    • 软机器人软机器人 软机器人软机器人

    背景情况:

    • 连续机器人 (CRs) 为复杂的环境提供了出色的可变形性.
    • 传统的刚性电机驱动器由于相互作用时的冲击力造成了安全问题.
    • 软驱动器,如气动软执行器 (PSA),提供合规的力量,但需要集成控制.

    研究的目的:

    • 为使用软驱动器的连续机器人开发强大的位置控制方法.
    • 为了应对同时控制软驱动器和机器人机身的挑战.
    • 在交互式应用中增强CR的安全性和适应性.

    主要方法:

    • 开发了一款CR车型,具有毫米尺度,长度可变的车身和气动软驱动.
    • 使用断片式恒定曲率 (PCC) 方法构建的动力模型.
    • 基于三元模型,为软硬盘驱动器衍生出静态模型.
    • 提出了一种双闭环自适应位置控制策略,其中一个内环用于软驱动位移,一个外环用于使用非单元快速终端滑动模式控制终点.

    主要成果:

    • 拟议的双闭环自适应控制方法有效地实现了对CR的终点位置控制.
    • 利亚普诺夫稳定性分析证实了终点位置误差的趋同.
    • 实验验证证明了控制策略的实际有效性.

    结论:

    • 双闭环自适应位置控制方法为具有软驱动器的CR提供了安全有效的解决方案.
    • 这种方法提高了CR的精度和适应性,为更安全的人机交互铺平了道路.
    • 该研究提供了软驱动连续机器人的基本控制框架.