a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...

This study addressed sufficient conditions for the robust monotonic convergence of repetitive discrete-time linear parameter varying systems, with variation rate bound. The learning law under consideration is an anticipatory iterative control. Of particular interest in this that iterations can eliminate influence disturbances. Based on a simple quadratic performance function, condition proposed...

Abstract: By using the Lyapunov second method, the robust control and robust optimal control for the gas tungsten arc welding dynamic process whose underlying continuous-time systems are subjected to structured uncertainties are discussed in time-domain. As results, some sufficient conditions of robust stability and the corresponding robust control laws are derived. All these results are design...

Recent work in the field of robotics optimal control has focused on designing and employing variable impedance actuators. Such actuators provide a high dynamic range and fast response. Until now, impedance modulation has been restricted to physical stiffness alone, while its other components, such as damping, are set to a fixed value. In this work the influence of introducing variable damping i...

This paper is concerned with the problem of designing a robust modified repetitive-control system with a dynamic outputfeedback controller for a class of strictly proper plants. Employing the continuous lifting technique, a continuous-discrete two-dimensional (2D) model is built that accurately describes the features of repetitive control. The 2D control input contains the direct sum of the eff...

Abstract—The dynamic control of a 3R underactuated robot is investigated in this paper. The second order nonholonomic dynamic equation of the robot is derived. An intelligent control method is proposed for the position control of underactuated manipulator based on genetic algorithm. A new fuzzy controller for motion control of underactuated robot is presented, in which the joint angular errors ...

* 0-7803-7952-7/03/$17.00  2003 IEEE. Abstract This paper presents a control method design based on the multi-controller approach for a class of nonlinear systems in order to track a desired trajectory. The dynamic behavior of the nonlinear systems considered here is described by a convex interpolation of linear dynamic equations and it may approximate a large number of nonlinear systems. The ...

Dynamic data detection is one of the main concerns in statistical process control (SPC) field. Here we focus on monitoring parametric multivariate dynamic streams using ARMAX-GARCH model, which reflects both influence exogenous variables mean vector and heterogeneity covariance matrix. A quasi maximum likelihood estimator used to estimate parameter a process, top-r scheme proposed monitor param...

there are two significant goals in teleoperation systems: stability and performance. this paper introduces an lmi-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. the uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. the time delay in communicatio...

Cellular mechanical properties have emerged as central regulators of many critical cell behaviors, including proliferation, motility, and differentiation. Although investigators have developed numerous techniques to influence these properties indirectly by engineering the extracellular matrix (ECM), relatively few tools are available to directly engineer the cells themselves. Here we present a ...