In some situations, when an external disturbance occurs, humans can rock stably backward and forward by lifting the toe or the heel to keep the upright balance without stepping. Many control schemes have been proposed for standing balance control under external disturbances without stepping. But, in most of them researchers have only considered a flat foot phase. In this paper a framework is pr...

A robust finite-time control law is proposed for mobile manipulators with uncertain both kinematic and dynamic equations. Moreover, the following external disturbances are allowed to act on system: unstructured forces exerted end-effector, slip reaction affecting platform wheels, unknown friction coming from joints directly driven by actuators undesirable caused singular configurations. In orde...

Abstract To improve accuracy and robustness of interactive aerial robots, the knowledge forces acting on platform is uttermost importance. The robot should distinguish interaction from external disturbances in order to be compliant with firsts reject seconds. This represents a challenge since might different nature (physical contact, aerodynamic, modeling errors) applied points robot. work pres...

A fuzzy controller equipped with an adaptive algorithm and two supervisors is developed in this work to achieve tracking performances for a class of uncertain nonlinear single input single output (SISO) systems with external disturbances. The convergence of the training algorithm is guarantied by a gradient projection law. The effect of both the approximation errors and the external disturbance...

The optimal disturbance rejection control problem is considered for consensus tracking systems affected by external persistent disturbances and noise. Optimal estimated values of system states are obtained by recursive filtering for the multiple autonomous underwater vehicles modeled to multi-agent systems with Kalman filter. Then the feedforward-feedback optimal control law is deduced by solvi...

In this paper, the problem of stabilizing a class of fractional-order chaotic systems with sector and dead-zone nonlinear inputs is investigated. The effects of model uncertainties and external disturbances are fully taken into account. Moreover, the bounds of both model uncertainties and external disturbances are assumed to be unknown in advance. To deal with the system’s nonlinear items and u...

equation is organized to describe the dynamical system. Control system performance is proved robust against parametric uncertainties and external disturbances. The control input involves a discontinuous switching control input which is used to deal with the uncertainties and disturbances. Illustrative example is given. Input chattering is remarkably eliminated and trajectory tracking is effecti...

Disturbance attenuation for a class of nonlinear systems under unknown disturbances is considered in this paper. Based on the Disturbance-Observer-Based Control (DOBC) concept, two design schemes are proposed for external disturbances generated by exogenous systems where the disturbances could be unbounded. One design scheme is obtained by augmenting the estimation of the disturbance into a sta...