This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimat...

This document provides a brief proposal for “Robust Optimization & Robust Control Synthesis” reading group.

This paper investigates the problem of robust output feedback control for a class of uncertain discrete-time fuzzy systems with time delays. The state–space Takagi–Sugeno fuzzy model with time delays and norm-bounded parameter uncertainties is adopted. The purpose is the design of a full-order fuzzy dynamic output feedback controller which ensures the robust asymptotic stability of the closed-l...

The application of sliding mode, a non-linear robust and self-contained approach, to the control problem of electronic power converters, is outlined and illustrated. On-line sliding mode control is suited to multilevel power converters as they are inherently variable structure systems. Obtained controllers are robust concerning parameter variation and perturbations and provide "Just In Time" sw...

Abstract: In this paper, a novel control approach for tracking control of robot manipulators in the task space is developed which not only parametric uncertainties but also unstructured uncertainties such as friction, disturbances and un-modeled dynamics are considered. Disregarding the unstructured uncertainties may cause an unstable closed loop control system. A robust controller is designed ...

The dynamics and kinematics of a parallel manipulator has been widely researched by virtue of its a high force-to-weight ratio and widespread applications ranging from vehicle or flight simulator to machine tool despite a smaller workspace than a serial robot system (Merlet, 2000). Such a parallel system has been paid special attention as a typical multi-input multi-output nonlinear system to r...

A robust control approach is developed to control robot in the task space using sliding mode by support of feedback linearization control and backstepping method, in this study. The bounds of uncertainties applied in the sliding mode control are reduced by applying feedback linearization. This provides a robust control system with a less error. The back-stepping method is used to define a linea...