This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...

in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...

In this paper, dynamic equations of motion of a 5 DoF robot manipulator including mechanical arms with revolute joints and their electrical actuators are considered. The application of integrator backstepping technique for trajectory tracking in presence of parameters of uncertainty and disturbance is studied. The advantage of this control technique is that it imposes the desired properties of ...

This paper proposes a fuzzy PID control method for deburring industrial robots. The adaptive fuzzy PID controller relates to the trajectory and joint angular parameters of the end-effector on a robot. The PID controller parameters update online at each sampling time to guarantee trajectory accuracy of the end-effector. The simulation of the fuzzy PID control is provided based on the 6-DOF debur...

In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly de...

Many advanced robotic systems are subject to nonholonomic constraints, e.g., wheeled mobile robots, space manipulators and multifingered robot hands. Steering these mechanisms between configurations in the presence of perturbations is a difficult problem. In fact, the divide et impera strategy (first plan a trajectory, then track it by feedback) has a fundamental drawback in this case: due to t...

This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities and/or uncertainties. This observer is basically the ...

This paper presents a robust control law for controlling robot manipulators with parameter uncertainty, applied to a 4-DOF robot. The design of the controller is based on the Lyapunov function and the control law that is designed to compensate the uncertainties arising from unknown robot parameters and unknown payload. Major simulations results using numerical values of an industrial SCARA robo...