Smart materials display coupling between electrical, magnetic, thermal and elastic behavior. Hence these materials have inherent sensing and actuation capacities. However, the hysteresis inherent to smart materials presents a challenge in control of these actuators/sensors. Inverse compensation is a fundamental approach to cope with hysteresis, where one aims to cancel out the hysteresis effect...

We propose a design procedure of neural Internal Model control systems for processes with delay. We assume that a stable discrete-time neural model of the process is available. We show that the design of a Model Reference controller for Internal Model control necessitates only the training of the inverse of the model deprived from its delay, provided this inverse exists and is stable. As the ro...

In the field of automatic control system design, adaptive inverse is a powerful control technique. It identifies the system model and controls automatically without having prior knowledge about the dynamics of plant. In this paper neural network based adaptive inverse controller is proposed to control a MIMO system. Multi layer perception and back propagation are combinedly used in this investi...

This paper deals with an inverse optimal H1 disturbance attenuation for the planar manipulators with the eye-in-hand system. The input-to-state stability control Lyapunov function (ISS-CLF) is constructed the full Lagrangian dynamics based on a potential function of the image feature parameter space. The ISS-CLF gives us an inverse optimalH1 control law. A proposed controller solves the inverse...

We propose a design procedure of neural Internal Model control systems for processes with delay. We assume that a stable discrete-time neural model of the process is available. We show that the design of a Model Reference controller for Internal Model control necessitates only the training of the inverse of the model deprived from its delay, provided this inverse exists and is stable. As the ro...

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...

Abstract-This paper suggests an inverse optimal PID control design method for mechanical manipulators. We find the Lyapunov function and the control law satisfying the disturbance input-to-state stability by using the characteristics of Lagrange system. Also, we show that the inverse optimal PID controller satisfies the HamiltonJacobi-Isaacs equation. Hence, the inverse optimality of the closed...

This paper studies certain inverse problems in the optimal frequency-domain synthesis of robust controllers, in both the 2-norm and the infinity-norm. These inverse problems identify the class of controllers which are optimal for some choice of weights. Their implications for loopshaping are discussed. Keywords—Inverse optimality, loopshaping, H2 control, H∞ control. c.t/ g− + K.s/ u.t/ G0.s/ g...