In this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. It provides both robust tracking and load swing suppression. Inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. The crane nonlinearities are then tr...

control of robotic systems is an interesting subject due to their wide spectrum applications in medicine, aerospace and other industries. this paper proposes a novel continuous control mechanism for tracking problem of a 5-dof upper-limb exoskeleton robot. the proposed method is a combination of a recently developed robust integral of the sign of the error (rise) feedback and neural network (nn...

In this paper, in view of robust stability conditions relevant to linear time-delay systems, poses up an output feedback control method for linear system with time-delay based on genetic algorithm. Because of the system state in actuality is normally unpredictable, which studies time-delay related stability and H∞ control of linear system with time delay by combination of genetic algorithm and ...

in this paper, genetic algorithms (gas) are employed to control simultaneous linear systems in both state and output feedback. first, the similarity transformation is applied to obtain parameterized controllers. this requires solution of a system of equations and also some non-linear inequalities. gas are used to solve these equations and inequalities. therefore, the paper presents an analytica...

This work addresses the problem of robust output feedback model predictive control (MPC) constrained, discrete-time, time-delayed linear systems subject to (bounded) additive disturbances. The proposed controller incorporates an interval observer, that exploits available measurement update set-membership system states, and predictor, used in prediction step MPC. algorithm is similar conventiona...