In this paper, a control scheme based on state prediction is proposed for class of nonlinear systems subject to input delay and external disturbance. Firstly, as constant delay, an improved that combining with dynamic surface (DSC) technique proposed, which can compensate the completely. Secondly, by considering disturbance, effective controller prediction, DSC disturbance observer presented ta...

In this paper the control of flexible joint manipulators is studied in detail. The model of N -axis flexible joint manipulators is derived and reformulated in the form of singular perturbation theory and an integral manifold is used to separate fast dynamics from slow dynamics. A composite control algorithm is proposed for the flexible joint robots, which consists of two main parts. Fast contro...

This paper presents the design of two predefined-time active fault-tolerant controllers for trajectory tracking autonomous underwater vehicles (AUVs) which can address actuator faults without causing saturation. The first controller offers improved steady-state precision, while second ensures a nonsingular property. Firstly, sliding mode is formulated based on disturbance observer by integratin...

This paper presents an adaptive Takgi-Sugeno (T-S) fuzzy terminal sliding-function controller (AFTSFC) approach to synchronize two chaotic systems with parameter mismatch. First, an appropriate terminal sliding function (TSF) is designed and then represented by the T-S fuzzy model. The T-S fuzzy terminal sliding-function (FTSF) is applied to the control law. Different from classical terminal sl...

This paper introduces an optimal tracking controller for robot manipulators with asymmetrically saturated torques and partially - unknown dynamics based on a reinforcement learning method using neural network. Firstly, the feedforward control inputs are designed backstepping technique to convert problem into problem. Secondly, cost function of system input is defined, constrained Hamilton-Jacob...

Abstract In this paper, a human motion intention estimation-based decentralized robust interaction control method of modular robot manipulators (MRMs) is proposed under the situation physical human–robot (pHRI). Different from traditional scheme that depends on biological signal and centralized method, implemented using only position measurements each joint module in investigation. Based harmon...

In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive Robust Outer Loop Control (AROLC) is proposed. Compared to the conventional predictor based approaches, the proposed controller is capable of negotiating any inp...

This paper considers the power capture control problem of variable-speed wind turbine (VSWT) systems with flexible shaft. The objective is to optimize energy by tracking desired output. A novel command filter based adaptive signal feedback (PSF) method proposed design PSF controller for non-affine nonlinear VSWT a two-mass model which parameters are totally unknown. compensation dynamic adaptab...

This paper addresses the adaptive inverse optimal output regulation problem for a class of uncertain nonlinear systems driven by an exosystem. The unknown parameters, internal disturbances, and unmeasured states are contained in system. Firstly, is decomposed into feedforward control design which can be solved model based on theory, stabilization problem. Then auxiliary system designed, new sta...

In this paper, an event-triggered Reinforcement Learning (RL) method is proposed for the optimal attitude consensus of multiple rigid body networks with unknown dynamics. Firstly, error constructed through According to Bellman optimality principle, implicit form controller and corresponding Hamilton-Jacobi-Bellman (HJB) equations are obtained. Because augmented system, can be obtained directly ...