The position accuracy of current mobile robots that are driven by independent motors has not been yet achieved to full satisfaction due to the difference in the angular positions of motor rotors that is caused by external and internal disturbances. Thus, an Accurate Synchronised Position Cross-Coupling Motion Controller (ASPC-CMC) for a Two-Wheel Mobile Robot that guarantees zero steady state a...

This paper studies theuncertain nonlinear dynamics of a MEMS optical switch addressing electrical, mechanical and optical subsystems. Recently, MEMS optical switch has had significant merits in reliability, control voltage requirements and power consumption. However, an inherent weakness in designing control for such systems is unavailability of switch position information at all times due to t...

This paper is concerned with the consensus tracking problem of high order MIMO nonlinear multi-agent systems. The agents must follow a leader node in presence of unknown dynamics and uncertain external disturbances. The communication network topology of agents is assumed to be a fixed undirected graph. A distributed adaptive control method is proposed to solve the consensus problem utilizing re...

Due to the nonlinearities inherent in electromagnetic suspension systems, it is difficult to design a linear controller which gives satisfactory performance and stability over a wide range of operating points. Besides, uncertainties in modeling of the system make it difficult to control the system robustly. The parameter uncertainties such as mass and electric resistance variations of the syste...

Robustness in control systems is without doubt a property as important as stability; it is the property by which a system preserves an acceptable behavior under uncertainty, external disturbances, measurement noise, etc. Generally speaking, uncertainty and disturbances may take different forms and meanings, especially for the theoretician and for the practitioner. Uncertainty may stem from impr...

Humans show remarkable skills in reactive balancing control on unknown disturbances while standing and walking.Though current bipedal robots can walk, run and step obstacles, they normally perform in a well-controlled environment. Still unexpected perturbations can cause a fall of bipedal robots, therefore advanced capabilities for rejecting unknown disturbances are needed. Studies from neurolo...

This paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. Fuzzy logic control (FLC) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  On the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...

The “Adaptive Slotine-Li Robot Controller (ASLRC)” of the nineties of the past century was designed by a sophisticated process based on the use of Lyapunov’s 2nd method. In the possession of the exact analytical form of the system model it generally can achieve global asymptotic stability by learning the system’s exact dynamic parameters. However, it is not robust to friction effects and unknow...

Teleoperation systems are subject to different types of disturbances. Such disturbances, when unaccounted for, may cause poor performance and even instability of the teleoperation system. This paper presents a novel nonlinear bilateral control scheme using the concept of disturbance observer based control for nonlinear teleoperation systems. Lumping the effects of dynamic uncertainties and exte...