One of the main problems of car-like robot is robust path following in the presence of sliding effect. To tackle this problem, a robust mix H2/H∞ static state feedback control method is selected. This method is the well-known linear robust controller which is robust against external disturbance as well as model uncertainty. In this paper, the path following problem is formulated as linear matri...

In this paper, we develop a new adaptive decentralized controller of robot manipulator for trajectory tracking. With the nonlinear control terms, the closed-loop system is globally stable. Furthermore, the adaptive decentralized controller is considered with a a-modification term such that it becomes robust to the noise in practical implementation. Finally, a numerical study is provided to veri...

This paper investigates the feasibility of robust adaptive feedforward control for the vibration suppression of a smart flexible beam. The adaptive least mean square (LMS) feedforward control with sliding mode controller is developed. Finite element model of flexible beam is calculated. The developed adaptive control with sliding mode controller design is numerically verified on a flexible beam...

On the basis of inverse dynamics controller as a nominal control portion, two types of novel robust adaptive inverse dynamics control schemes are proposed for the trajectory tracking control of robot manipulator with uncertain dynamics. They are composed of an adaptive fuzzy control algorithm and a nonlinear H∞ tracking control model. The adaptive fuzzy control algorithm is employed to approxim...

An adaptive version of growing and pruning RBF neural network has been used to predict the system output and implement Linear Model-Based Predictive Controller (LMPC) and Non-linear Model-based Predictive Controller (NMPC) strategies. A radial-basis neural network with growing and pruning capabilities is introduced to carry out on-line model identification.An Unscented Kal...

This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desir...

Driver steering control performance varies with time during the vehicle driving course. A serial vehicle steering assist controller is designed to provide steering correction that can compensate the difference between the current driver and an “idealized” driver model. Using variable structure model reference adaptive control, a robust adaptive controller for lane keeping assist is developed. T...

In this paper, an adaptive backstepping controller is proposed for the position tracking of a mechanical system driven by an induction motor (IM). The mechanical system is a single link fixed on the shaft of the induction motor. The backstepping methodology provides a simpler design procedure for a adaptive control scheme than the model reference adaptive control method, which is demonstrated i...

In order to improve the design method of robust controller for ship course-keeping, a nonlinear controller design is presented by combining neural network (NN) approximator with adaptive Backstepping technology. The simulation research is carried out based on the training ship "Yu long" of Dalian Maritime University as an example. The results show that the control algorithm has good adaptabilit...

This paper describes an application of Artificial Neural Networks (ANN) to Load Frequency Control (LFC) of nonlinear power systems. Power systems, such as other industrial processes, have parametric uncertainties that for controller design had to take the uncertainties in to account. For this reason, in the design of LFC controller the idea of robust control theories are being used. To improve ...