TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...

the present sought to draw a comparison between model predictive control performance and two other controllers named simple pi and selective pi in controlling large-scale natural gas transport networks. a nonlinear dynamic model of representative gas pipeline was derived from pipeline governing rules and simulated in simulink® environment of matlab®. control schemes were designed to provide a s...

this paper employs nonlinear disturbance observer (ndo) for robust trajectory-free nonlinear model predictive control (nmpc) of biped robots. the ndo is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. in contrary to the slow-varying disturbances, handling sudden pushing ...

In this paper a method for designing robust offset-free MPC controllers for (possibly) nonzero targets is presented. The proposed controller is guaranteed to track the controlled variable to its target for any plant that lies in a polytopic region. First, an off-line design of a robust unconstrained offset-free controller is accomplished, and a corresponding invariant region is computed in whic...

A new "model-free" control methodology is applied to a boost power converter. The properties of the boost converter allow to evaluate the performances of the model-free strategy in the case of switching nonlinear transfer functions, regarding load variations. Our approach, which utilizes "intelligent" PI controllers, does not require any converter model identification while ensuring the stabili...

This work addresses the problem of offset-free Model Predictive Control (MPC) when tracking an asymptotically constant reference. In the first part, compact and intuitive conditions for offset-free MPC control are introduced by using the arguments of the internal model principle. In the second part, we study the case where the number of measured variables is larger than the number of tracked va...

Aderivative-free, delayedweight update law is developed formodel reference adaptive control of continuous-time uncertain systems, without assuming the existence of constant ideal weights. Using a Lyapunov–Krasovskii functional it is proven that the error dynamics are uniformly ultimately bounded, without the need for modification terms in the adaptive law. Estimates for the ultimate bound and t...

Inkjet printers are non-impact printers which print text and images by spraying tiny droplets of liquid ink onto paper. Besides the well known small inkjet printers for home and office, there is a market for professional inkjet printers. Inkjet printers are used to form conductive traces for cir cuits, and color filters in LCD and plasma displays. That makes the printing quality is an important...