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....

Accurate temperature control is crucial for the reliable operation of photonic integrated circuits in the presence of internal thermal crosstalk or external thermal disturbance. We propose an adaptive multiple-input and multiple-output (MIMO) control scheme to stabilize the operation wavelength of on-chip wavelength demultiplexers that have many applications in photonic-chip-based optical signa...

As we know, sliding mode control methodology is one of the robust control technique to handle systems with model uncertainties, parameter variations and external disturbances. In this paper, a robust altitude control scheme is proposed for a nonlinear quad-rotor aircraft system based on sliding mode controller with an integral action to eliminate the steady-state error effect. The proposed slid...

Abstract—This paper deals with the modelling, analysis design and experimental validation of a robust control method for a permanent magnet synchronous machine (PMSM) supplied with a PWM inverter based on a monovariable H infinity standard controller. Under the influence of uncertainties and external disturbances, by a variation of ±10% of all motor parameters from the nominal values, the robus...

An adaptive robust tracking controller is proposed for robot systems under plant uncertainties and external disturbances. Nonlinear robust control theory and neural network design are combined to construct a hybrid adaptive-robust tracking control scheme which ensures that the joint positions track the desired reference signals. Neural network is used to identify the uncertainties, and the effe...

Previous research has shown that mastication reduces shifts in the center of gravity of persons standing still. The present research was conducted to determine whether mastication improves reactive balance in the standing position in response to unanticipated external disturbances. The subjects were 32 healthy male adults (mean age 21.1 years, standard deviation (SD) 0.7 years). Latency data de...

The dynamic model of a UAV with an attached robotic arm is derived in a symbolic matrix form through the Euler-Lagrangian formalism. A Cartesian impedance control, which provides a dynamic relationship between external generalized forces acting on the structure and the system motion, is then designed. The hovering control of a quadrotor, equipped with a 3-DOF robotic arm and subject to contact ...

Nonlinear H∞ control is considered for uncertain nonholonomic systems with external disturbances in their chained form kinematic models. State feedback controllers are explicitly constructed to guarantee an L2 gain performance from the disturbance to the system output. Without the presence of the disturbance, the system states are regulated to the origin. Recent results in robust and adaptive c...

The main purpose of this paper is to integrate fuzzy logic control and sliding mode control techniques based on backstepping approach to develop a robust fuzzy backstepping sliding mode controller (RFBSMC) for an under-actuated quadrotor UAV system under external disturbances and parameter uncertainties. First, a robust backstepping sliding mode control for quadrotor is introduced briefly. More...

Abstract—Biaxial motion stages are commonly used in precision motion applications. However, the contour following accuracy of a biaxial motion stage often suffers from system nonlinearities and external disturbances. To deal with the above-mentioned problem, a control scheme consisting of a reinforcement Q-learning controller with a self-tuning learning rate and two iterative learning controlle...