Shin Horng Chong

Learn More
This paper describes the design of a Proportional Integral (PI) compensator for a nominal characteristic trajectory following (NCTF) controller that based on practical stability limit. NCTF controller is a control system that has simple structure and easy design procedure in order to achieve good performance in both point-to-point (PTP) motion and(More)
In this paper a practical control scheme is discussed for the positioning and tracking control of a one mass rotary system. The practical controller designed must have high speed performance, high accuracy, robust to disturbance and parameter variation and have high positioning response which always welcome to industry. Hence, a Nominal Characteristic(More)
– Pneumatic Artificial Muscle (PAM) overcome the other common actuators as it has higher power-to-weight ratio. However, the air compressibility and lack of damping ability of PAM brings dynamic delay to the pressure response and causes oscillatory motion to occur. It is not easy to realize the motion with high accuracy and high speed due to all the(More)
– This paper presents the hopping peak height algorithm in controlling the hopping height of a one legged hopping robot. The hopping mechanism produces continuous and rhythmic pattern. The continuous and rhythmic pattern behaviors produce oscillation feedback to the closed loop system and continuously produce oscillation error to the controller. Therefore,(More)
  • 1