In this paper, an adaptive fuzzy control algorithm is proposed for trajectory tracking of an n-DOF robot manipulator subjected to parametric uncertainty and it is advantageous compared to the conventional nonlinear saturation controller. The asymptotic stability of the proposed controller has been derived based on Lyapunaov energy function. The design procedure is straightforward due to its sim...

For a class of uncertain nonlinear dynamical systems in Brunovsky form a dynamic inversion (DI) based adaptive control framework is developed that provides stable adaptation in the presence of input constraints. The proposed design methodology, termed “positive μ-modification”, protects the control law from actuator position saturation. Moreover, the design is Lyapunov based and ensures bounded...

Abstract This paper focuses on the optimal tracking control problem for robot systems with environment interaction and actuator saturation. A scheme combined admittance adaptation adaptive dynamic programming (ADP) is developed. The unknown modelled as a linear system controller derived to achieve compliant behaviour of robot. In ADP framework, cost function defined non-quadratic form critic ne...

Efficiency, reliability and lifetime of polymer electrolyte membrane fuel cells (PEMFCs) are significantly limited by inadequate water management. High-performance active control algorithms cannot be implemented due to the absence adequate online sensors that can measure internal liquid saturation. A promising technique applied in this context is state observer. However, cell models present str...