In this paper an observer based adaptive control algorithm is built for wheel mobile robot (WMR) with considering the system uncertainties, input disturbances, and slips. Firstly, model of kinematic dynamic loops shown presence disturbances uncertainties. Next, controller nonlinear mismatched disturbance systems on presented in detail. The includes two parts, first one stability purpose later c...

In this paper, an adaptive tracking controller is proposed using Extremum-seeking strategy. For unknown disturbances satisfying matching condition, the controller can adaptively seek for a proper magnitude level large enough for disturbance rejection without excessive control efforts. The proposed control strategy is robust to disturbances and uncertainties and is continuous in nature. As a res...

In this paper, an adaptive fault-tolerant control scheme is extended to large-scale interconnected systems with actuator failures and external disturbances. Based on Lyapunov stability theory, a state feedback decentralized controller is designed to compensate for the fault and the disturbance effects, using the overlapping decomposition method. Applying the inclusion principle, the interconnec...

A robust adaptive output feedback controller is proposed for a class of nonlinear systems represented by input–output models. In the design of the adaptive controller, a signal is used to characterise the unmodelled dynamics and a nonlinear damping term is introduced to counteract the effects of the unmodelled dynamics and bounded disturbances. With the proposed controller, all the variables in...

This paper presents an integrated direct/indirect adaptive robust contouring controller (DIARC) for an industrial biaxial high-speed gantry that achieves not only excellent contouring performance but also accurate parameter estimations for secondary purposes such as machine health monitoring and prognosis. Contouring control problem is first formulated in a task coordinate frame. A physical mod...

-A new block backstepping controller is proposed to solve the attitude stabilization problem for a quadrotor helicopter. The attitude kinematical model is obtained and translated into a MIMO nonlinear system with generalized uncertainties. Under the consideration of the coupling between the attitude angles, a nominal block backstepping controller is designed. The obtained controller is then aug...

A robust adaptive fuzzy control design approach is developed for a class of multivariable nonlinear systems with modeling uncertainties and external disturbances. The controller design for the overall systems has been carried out through a number of simpler controller designs for a series of the relevant auxiliary systems based on the backstepping design technique. For each auxiliary system, an...

Abstract: Many physical systems such as welding processes are typically non-linear and uncertain. To control such systems effectively the control scheme requires to be robust with respect to varying operating conditions. On the basis of robust control Lyapunov function method and adaptive non-linear damping approach, this paper presents a robust adaptive control scheme for uncertain non-linear ...

This paper studies the high performance robust motion control of linear motors that have a negligible electrical dynamics. A discontinuous projection based adaptive robust controller (ARC) is first constructed. The controller guarantees a prescribed transient performance and final tracking accuracy in general while achieving asymptotic tracking in the presence of parametric uncertainties only. ...