Abstract. This paper deals with robust H∞ force and impedance control of series elastic actuators. It is considered that the series elastic actuators are subject to parametric uncertainties and external disturbances. Robust controllers based on the H∞ criterion have been widely used among robotic applications for guaranteeing good disturbance rejection properties. The H∞ force and impedance con...

The application of Internal Model Control for process control has received much attention during the past decade. In this paper, the application of IMC for robot control is investigated. Although the IMC approach is shown to be more robust as compared to conventional robot control approaches, such as the computed-torque approach, its performance degrades in the presence of large modelling uncer...

Abstract: In this study, a dynamic surface controller based on a nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. By using a coordinate transformation, the underactuated system is presented as a semi-strict feedback form which is convenient for controller design. A dynamic surface controller together with a nonlinear disturbance observer is desi...

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...

Feature point tracking and detection of X-ray images is challenging due to overlapping anatomical structures of different depths, which lead to low-contrast images. Tracking of motion in X-ray sequences can support many clinical applications like motion compensation or 2D / 3D registration algorithms. This paper is the first to evaluate the performance of several feature tracking and detection ...

This paper presents the design of a H∞ controller dedicated to the lateral driving assistance including lane keeping and yaw dynamic enhancement. It is used to add a steering torque to that of the driver in order to improve the rejection of external disturbances (such as lateral wind) despite uncertainties such as road adhesion, longitudinal velocity, and driver dynamics. The simulation results...

This paper investigates adaptive H control problem for switched dissipative Hamiltonian systems (SDHSs). Firstly, using the dissipative Hamiltonian structural properties, such systems generated an augmented SDHS, with which some results on the controller design are then obtained. When there are external disturbances and parameter perturbations in such systems, a family of adaptive H controlle...

We present a hybrid-type observer for detecting the switching time and estimating both the active mode and the states of continuous-time switched linear systems. The systems under consideration have external inputs and are affected by unknown disturbances. In addition, noise corrupts the output measurements. In this setting the switching cannot be detected immediately, and thus, this paper pres...

Abstract Nonsingular Fixed-time Sliding Mode Control (NFSMC) method is one of the nonlinear control methods which robust against uncertainties and external disturbances. This paper presents an NFSMC to synchronize two similar Willamowski–Rossler reaction chaotic systems. The proposed disturbances; also, it accurate fast method. compared with a Terminal Control. comparison results show that prov...

background: the aim of this study was to evaluate the efficacy of arterial blood gases (abgs) in determining the type of intoxication. methods: medical charts of all patients who had referred to the toxicology ward of baharloo hospital between january 2009 and december 2009 were evaluated. after excluding the patients with multi-drug toxicity, data, including age, sex, type of intoxication (the...