This paper is concerned with the problem of designing a robust adaptive controller for flexible joint robots (FJR). Under the assumption of weak joint elasticity, FJR is firstly modeled and converted into singular perturbation form. The control law consists of a FAT-based adaptive control strategy and a simple correction term. The first term of the controller is used to stability of the slow dy...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

The present paper advocates the use of ODE-based (instead of algebra-based) constraints on the output variables of a controlled system, and the use of dynamic control laws (instead of static control laws)—when finite but small errors in honoring the constraints are considered acceptable. It is assumed that the sensor signals are reliable and have good signal-to-noise ratios, that the controller...

This paper presents a robust controller design methodology for a class of linear uncertain multivariable systems with hard time-domain constraints on their outputs and control signals in response to step disturbance inputs. In this approach, the m×m MIMO system is replaced by m2 SISO systems and then, using the QFT technique, desirable controllers are synthesized. The final controller will be d...

By introducing Colpitts oscillator as a chaotic system, this paper deals with back-stepping control method and investigates the restrictions and problems of the controller where non-existence of a suitable response in the presence of uncertainty is the most important problem to note. In this paper, the back-stepping sliding mode method is introduced as a robust method for controlling nonlinear ...

in this paper, a novel compensator based on magnetically controlled reactor with fixed capacitor banks (fc-mcr) is introduced and then power system stability in presence of this compensator is studied using an intelligent control method. the problem of robust fc-mcr-based damping controller design is formulated as a multi-objective optimization problem. the multi-objective problem is concocted ...

Natural vibration analysis of plates represents an important issue in engineering applications. In this paper, a new and simplify method for vibration analysis of circular and rectangular plates is presented. The design of an effective robust controller, which consistently attenuates transverse vibration of the plate caused by an external disturbance force, is given. The dynamics of the plate i...

This paper investigates the problem of controlling a team of Quadrotors that cooperatively transport a common payload. The main contribution of this study is to propose a cooperative control algorithm based on a decentralized algorithm. This strategy is comprised of two main steps: the first one is calculating the basic control vectors for each Quadrotor using Moore–Penrose theory aiming at coo...