This note examines the robustness properties of the nonlinear PI control method to ignored actuator dynamics. It is proven that global boundedness and regulation can be achieved for sector bounded nonlinear systems with unknown control directions if the actuator dynamics are sufficiently fast and the nonlinear PI control gain is chosen from a subclass of the Nussbaum function class. Simulation ...

A novel fault tolerant control scheme, using model‐based control and time delay control theories, is proposed for flexible satellites with uncertainties and actuator saturation and the stability condition of the scheme is analysed. The moment–of‐inertia uncertainty, actuator faults uncertainty, space environment disturbances and the actuator saturation are...

Many important complex networks, including critical infrastructure and emerging industrial automation systems, are becoming increasingly intricate webs of interacting feedback control loops. A fundamental concern is to quantify the control properties and performance limitations of the network as a function of its dynamical structure and control architecture. We study performance bounds for netw...

Sliding mode controller for a vehicle active suspension system is designed in this study. The widely used quarter car model is preferred and it is aimed to improve the ride comfort of the passengers. The effect of the actuator time delay, which may arise due to the information processing, sensors or actuator dynamics, is also taken into account during the design of the controller. A sliding mod...

This paper is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertaintie...

An adaptive nonlinear control law that incorporates the manipulator dynamics as well as dynamics of the actuator is developed in this article. The technique is based on nonlinear feedback linearization. The electrical parameters of the actuator are considered to be of uncertain values. In contrast to known methods the robot position is the only measurement available, a nonlinear observer is des...

The paper presents numerical modeling of the dynamics of recently developed electromagnetic valve actuator. The decoupled modelling approach is employed consisting of three-dimensional finite element analysis of the magnetic field of the actuator and solution of the dynamics equations on the basis of functions obtained from the magnetic field analysis. For the finite element analysis ANSYS prog...

Series elastic robots are best able to follow trajectories which obey the limitations of their actuators, since they cannot instantly change their joint forces. In fact, their actuators can even allow them to improve over the performance of a robot with an ideal force source actuator by storing and releasing energy. In this paper, we formulate the trajectory optimization problem for series elas...

Distributed manipulation systems induce motions on objects through the application of many external forces. An actuator array performs distributed manipulation using a planar array of many small stationary elements (which are called cells) that cooperate to manipulate larger objects. Typically, highly dense actuator arrays are modeled as spatially continuous, programmable force fields, although...

Distributedmanipulation systems inducemotions on objects through the application of many external forces. An actuator array performs distributedmanipulation using a planar array of many small stationary elements (which are called cells) that cooperate to manipulate larger objects. Typically, highly dense actuator arrays are modeled as spatially continuous, programmable force fields, although in...