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Choudhury S.,University of Waterloo | Wight D.,Quanser Inc. | Kulic D.,University of Waterloo
IEEE-RAS International Conference on Humanoid Robots

This paper introduces a rapid development toolchain for the design and dynamic simulation of robotic and/or mechatronic applications. The toolchain provides a fast and seamless workflow from developing a mechanical system in Computer Aided Design (CAD) software to automatically generating full dynamic simulations with real time 3D visualization. Subsequent design changes in CAD are reflected to the dynamic simulation blocks by simply updating the kinematic and dynamic parameters with minimal user input. The toolchain is demonstrated on the development of a 14 degree of freedom bipedal robot, validating its usefulness for designing complex robotic systems. © 2012 IEEE. Source

Zhou Q.-L.,Concordia University at Montreal | Zhang Y.,Concordia University at Montreal | Rabbath C.-A.,Defence Research and Development Canada | Apkarian J.,Quanser Inc. | Apkarian J.,University of Toronto
AIAA Guidance, Navigation, and Control Conference

Two reconfigurable control allocation (called also as control reallocation) schemes for Unmanned Aerial Vehicle (UAV) under stuck actuator failures have been proposed in this paper. The two control reallocation algorithms include a cascaded generalized inverse algorithm and a fixed-point algorithm. The performance of the two algorithms has been evaluated with a UAV model known as ALTAV (Almost-Lighter-Than-Air-Vehicle). Different stuck faults on the actuators have been implemented in the ALTAV benchmark and used for evaluating the control reallocation schemes. An effective re-distribution of the control surface deflections with the remaining healthy control actuators is used in order to achieve acceptable performance in the presence of control actuator failures. Comparisons were made among the two algorithms with different commanded inputs. Simulation results show the effectiveness of reconfigurable control allocation algorithms for handling stuck failures in such a UAV with less hardware redundancy. Copyright © 2010 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved. Source

Nielsen C.,University of Waterloo | Fulford C.,Quanser Inc. | Maggiore M.,Kings College

This article presents an approach to path following control design based on transverse feedback linearization. A "transversal" controller is designed to drive the output of the plant to the path. A "tangential" controller meets the application-specific requirements on the path, such as speed regulation and internal stability. This methodology is applied to a five-degree-of-freedom (5-DOF) magnetically levitated positioning system. Experimental results are provided that demonstrate the effectiveness of our control design. © 2010 Elsevier Ltd. All rights reserved. Source

Haddadi A.,Quanser Inc. | Razi K.,Schneider Electric | Hashtrudi-Zaad K.,Queens University
IEEE/ASME Transactions on Mechatronics

Bilateral teleoperation control systems are designed for guaranteed stability against uncertainties in operator and environment dynamics. In this paper, we study the effect of human operator dynamics on the coupled stability by incorporating the operator dynamics in the master-slave network. We will analytically prove and graphically show that for any potentially unstable control architecture, as the operator minimum damping grows, the teleoperation system can stably tolerate a larger range of variations in the environment impedance parameters. More importantly, we will demonstrate how the proposed coupled stability analysis method can be utilized to design stabilizing controllers for enhanced transparency, given a priori knowledge or online estimate of human operator damping. © 1996-2012 IEEE. Source

Daly J.M.,Quanser Inc. | Tribou M.J.,University of Waterloo | Waslander S.L.,University of Waterloo
IEEE International Conference on Intelligent Robots and Systems

This work presents a novel path following controller for underactuated unmanned surface vessels (USVs) that is both provably stable and intuitive to tune. The approach consists of a navigation component that computes a desired heading angle to ensure the USV will arrive at the path, and a nonlinear controller to guarantee exponential tracking of surge velocity and heading. Additionally, ultimate boundedness of the unactuated sway velocity is proven. Simulation results are presented to show numerically that the controller works as expected in the ideal case. Outdoor experimental results are presented, using a GPS and compass as sensors, showing the practical feasibility of the approach in the presence of sensor noise, disturbances, and unmodeled dynamics. © 2012 IEEE. Source

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