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 ...

Predictive control is a strategy where the current control action is based on a prediction of the system response at some number of time steps into the future. This approach allows one to work directly with an input–output model of the system, in contrast to a state-space based approach where the state variable is involved explicitly in the controller design and implementation.A connection is p...

This paper proposes a globally and exponentially convergent predictive observer for attitude and position estimation based on landmark measurements and velocity (angular and linear) readings. It is assumed that landmark measurements are available with time-delay. The maximum value of the sensor delay under which the estimation error converges to zero is calculated. Synthesis of the observer is ...

This paper present a new advanced control algorithm based on continuous minimization of predicted tracking errors, to achieve torque, rotor speed and rotor flux amplitude tracking objectives. This algorithm called a new Adaptive Nonlinear Predictive Control to induction motor drive uses a combination of the adaptive observer for rotor flux and Cascaded Nonlinear Predictive Control technique. Th...

Background and Aim: Clinical and radiographic diagnoses of dental root fractures have always been difficult and require high accuracy in dental care and treatment. The aim of this study was to compare the diagnostic accuracy of intraoral digital radiography (PSP) and CBCT in the detection of horizontal and vertical root fractures (HRF and VRF). Materials and Methods: For this experimental stud...

We examine the social perception of emotional intelligence (EI) through the use of observer ratings. Individuals frequently judge others' emotional abilities in real-world settings, yet we know little about the properties of such ratings. This article examines the social perception of EI and expands the evidence to evaluate its reliability and cross-judge agreement, as well as its convergent, d...

Introduction: The aim of this study was to investigate the accuracy of Cone-beam computed tomography(CBCT) in detecting the horizontal root fractures (HRFs) in teeth with and without gutta-percha. Materials & Methods: This in vitro study was performed on 100 mandibular and maxillary single-rooted teeth. In 55 samples, the canals were prepared. Then, the horizontal fracture was induced randomly...

The present paper deals with a decoupled multimodel predictive control based on multi-observer for the control of discrete-time nonlinear systems with time-varying delay. For each local model, a controller based on partial predictor/observer is synthesized. A switching algorithm is established to yield the adequate partial controller ensuring the closed-loop desired performances. Simulation res...