Wen-Fang Xie

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Smart actuators such as magnetorestrictive actuators, shape memory alloy (SMA) actuators, and piezoceramic actuators exhibit different hysteresis loops. In this paper, a generalized Prandtl-Ishlinskii model is utilized for modeling and compensation of hysteresis nonlinearities in smart actuators. In the formulated model, a generalized play operator together(More)
In this paper, an on-line identification algorithm is proposed for nonlinear systems identification via dynamic neural networks with different time-scales including both fast and slow phenomenon. The main contribution of the paper is that the Lyapunov function and singularly perturbed techniques are used to develop the on-line update laws for both dynamic(More)
This paper presents a new image based visual servoing controller named Augmented Image Based Visual Servoing (AIBVS) for a 6 DOF manipulator. The main idea of this controller is that it produces acceleration as the controlling command. A proportional derivative (PD) controller is developed to provide the robot with the controlling command. This controller(More)
  • Wen-Fang Xie
  • 2007 International Conference on Mechatronics and…
  • 2007
In this paper, a novel sliding-mode observer based adaptive controller is developed for the servo actuators with friction. The LuGre dynamic friction model is adopted for adaptive friction compensation. A sliding-mode observer is proposed to estimate the internal friction state of LuGre model. Based on the estimated friction state, adaptation laws are(More)
This paper deals with the adaptive nonlinear identification and trajectory tracking via dynamic multilayer neural network (NN) with different timescales. Two NN identifiers are proposed for nonlinear systems identification via dynamic NNs with different timescales including both fast and slow phenomenon. The first NN identifier uses the output signals from(More)
The ball and beam system is a laboratory equipment with high nonlinearity in its dynamics. The aims of this research are to model the ball and beam system considering nonlinear factors and coupling effect and to design controllers to control the ball position. The LQR is designed considering two Degrees-of-Freedom and