A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...

Control of well drilling operations poses a challenging issue to be tackled. The loss of well control could lead to the occurrence of blowout as a severe threat, involving the risk of human lives and environmental and economic consequences. Conventional proportional-integral (PI) controller is a common practice in the well control operation. The small existing margin between pore pressure and f...

In this paper, the design and implementation of adaptive speed controller for a sensorless synchronous reluctance motor (SynRM) drive system is proposed. A combination of well-known adaptive input-output feedback linearization (AIOFL) and adaptive backstepping (ABS) techniques are used for speed tracking control of SynRM. The AIOFL controller is capable of estimating motor two-axis inductances ...

In this paper, an adaptive neuro fuzzy sliding mode based genetic algorithm (ANFSGA) controlsystem is proposed for a pH neutralization system. In pH reactors, determination and control of pH isa common problem concerning chemical-based industrial processes due to the non-linearity observedin the titration curve. An ANFSGA control system is designed to overcome the complexity of precisecontrol o...