Despite providing robustness, high-gain observers impose a peaking phenomenon, which may cause instability, on the system states. In this paper, an adaptive saturation is proposed to attenuate the undesirable mentioned phenomenon in high-gain observers. A real-valued and differentiable sigmoid function is considered as the saturating element whose parameters (height and slope) are adaptively tu...

Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

Abstract Prior to landing of reusable space transportation systems, the vehicle’s legs needs be fully deployed enable a safe and further re-use vehicle. During that phase deployment system has overcome harsh challenging environmental conditions. In this study, numerical simulator is developed in order investigate these influences on leg dynamics. By means an extensive aerodynamic database broad...

In this article the complex dynamics of a laser model, which externally injected class