It is the key requirement for bipedal robot to maintain balance and upright posture under unexpected external disturbances. Several control methods have been studied throughout the world over the last decades focusing on bipedal balancing in the scope of technical approaches. However, there are still limitations such as high energy consumption, high dependency on mathematical models, lack of po...

Quadcopters, as unmanned aerial vehicles (UAVs), have great potential in civil applications such as surveying, building monitoring, and infrastructure condition assessment. Quadcopters, however, are relatively sensitive to noises and disturbances so that their performance may be quickly downgraded in the case of inadequate control, system uncertainties and/or external disturbances. In this stud...

This paper deals with leader-following and leaderless consensus problems of high-order multi-input/multi-output (MIMO) multi-agent systems with unknown nonlinear dynamics in the presence of uncertain external disturbances. The agents may have different dynamics and communicate together under a directed graph. A distributed adaptive method is designed for both cases. The structures of the contro...

This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimat...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

Controller design remains an elusive and challenging problem for uncertain nonlinear dynamics. Interval type-2 fuzzy logic systems (IT2FLS) in comparison with type-1 fuzzy logic systems claim to effectively handle system uncertainties especially in the presence of disturbances and noises, but lack a formal mechanism to guarantee performance. In contrast, adaptive sliding mode control (ASMC) pro...

This paper presents a robust model independent control method for the stabilization of a four-rotor rotorcraft, which is popularly known as the quadrotor helicopter. In addition, a detailed dynamic model is presented for the formulation of the proposed control law and a prototype platform heavily utilizing printed circuit board technology is proposed for experimentation. This paper focuses on c...