This paper introduces the concept of hybrid operational space control, a method that unifies kinematic tracking of individual joints with an inverse dynamics task space controller for the remainder of the robot. The proposed control strategy allows for a hierarchical task decomposition while simultaneously regulating the inner forces between the contact points. At the same time it improves fast...

This paper presents a unified robust motion control scheme for robot manipulators in state space. The controller design task is carried out based on feedforward control sketch in state space framework with no need to the Computed Torque Control (CTC) which is usually used in many other control approaches. In the proposed approach, the load torque and some other uncertainties in the linear model...

We discuss one aspect of the allocation of new scientists to teaching and research careers. In the past, this allocation problem was treated on the basis of a model with kown constant parameters and as a classical open-loop optimal control problem with the allocation ratio as the sole control variable. The utility function in that treatment took both short term and long term goals into account....

nuclear power reactors are, in nature nonlinear and time varying. these characteristics must be considered, if large power variations occur in their working regime. in this paper a robust optimal gain scheduling controller for regulating the power of a nuclear reactor has been designed and simulated. the proposed controller is capable of regulating power levels in a wide power range (10% to 100...

In this chapter we present a brief description of 1 robust control. We first motivate the use of the 1norm and then show how it is used in formulating a control problem with the objective of minimizing the effect of unknown by bounded disturbances. This leads to formulation of the 1 optimal control problem, for which we present a solution using the Scaled-Q method. We then address the problem o...

tthe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. this paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. as a novelty, the proposed controller employs a simple gaussian radial-basis-function network as an uncertainty estimator. the proposed netw...

this paper addresses the problem of the fractional sliding mode control (fsmc) for a mems optical switch. the proposed scheme utilizes a fractional sliding surface to describe dynamic behavior of the system in the sliding mode stage. after a comparison with the classical integer-order counterpart, it is seen that the control system with the proposed sliding surface displays better transient per...

In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controll...