...Kamil Cetin; Enver Tatlicioglu; Erkan Zergeroglu In this study, a continuous robust-adaptive operational space controller that ensures asymptotic end-effector tracking, despite the uncertainties in robot dynamics and on the velocity level kinematics of the robot, is proposed. Specifically, a smooth...

...Elmira Madadi; Yao Dong; Dirk Söffker The design of accurate model often appears as the most challenging tasks for control engineers especially focusing to the control of nonlinear system with unknown parameters or effects to be identified in parallel. For this reason, development of model-free...

... the model developed in the optimization process. Note that the negligible differences potentially root on the unmodeled friction and backlash of the joints. Baxter uses a simple proportional–integral–derivative (PID) controller for every joint with respect to the initial and end points given...

... EASUREMENT, AND C ONTROL . Manuscript received July 16, 2017; final manuscript received June 22, 2018; published online August 1, 2018. Assoc. Editor: Soo Jeon. 16 07 2017 22 06 2018 Modeling and simulation Nonlinear systems Sensor networks Vibration control Dynamic systems...

...Jiguo Dai; Beibei Ren; Qing-Chang Zhong This paper proposes an uncertainty and disturbance estimator (UDE)-based controller for nonlinear systems with mismatched uncertainties and disturbances, integrating the UDE-based control and the conventional backstepping scheme. The adoption...

... Handroos. 28 06 2017 21 06 2018 Distributed parameter systems Modeling and simulation Power systems Control Dynamic systems Computer modeling of liquid-filled transmission lines of constant cross-sectional area is an area of hydraulics where extensive research has been...

...Fateme Bakhshande; Dirk Söffker This paper focuses on the design of an observer-based backstepping controller (BC) for a nonlinear hydraulic differential cylinder system. The system is affected by some uncertainties including modeling errors, external disturbances, and measurement noise...

...Mohammad Reza Amini; Mahdi Shahbakhti; Selina Pan Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional...

...Jang-Hyun Park; Seong-Hwan Kim; Tae-Sik Park A novel output-feedback controller for uncertain single-input single-output (SISO) nonaffine nonlinear systems is proposed using high-order sliding mode (HOSM) observer, which is a robust exact finite-time convergent differentiator. The proposed...

..., study propagation of lateral disturbances, and aid in the development of closed-loop lateral control systems in emerging applications that require precise lateral positioning of the web. In Roll-to-Roll (R2R) manufacturing, flexible materials called webs are transported on rollers through processes...

...Hossein Sartipizadeh; Mohammad Haeri Efficient control of a gas metal arc welding (GMAW) process enables one to obtain high quality products as a consequence of achieving a high quality weld. Although control of the droplet detachment frequency in the welding process would play a great role...

...Sevak Tahmasian This paper discusses the averaging, control authority, and vibrational control of mechanical control-affine systems with high-frequency, high-amplitude inputs. The inputs have different frequencies of the same order. This work is an extension of the existing averaging method...

...Xin Wang; Edwin E. Yaz; Susan C. Schneider This paper considers a novel coupled state-dependent Riccati equation (SDRE) approach for systematically designing nonlinear quadratic regulator (NLQR) and H ∞ control of mechatronics systems. The state-dependent feedback control solutions can be obtained...

...Sajjad Pak Khesal; Iman Mohammadzaman In this paper, we study nonlinear robust stabilization of roll channel of a pursuit using the sum of squares (SOS) technique. Roll control is a fundamental part of flight control for every pursuit. A nonlinear state feedback controller is designed based...

...Chidentree Treesatayapun An adaptive discrete-time controller is developed for a class of practical plants when the mathematical model is unknown and the sampling time is nonconstant or unfixed. The data-driven model is established by the set of plant's input–output data under the pseudo-partial...

... estimating the aforementioned key SCR states. The proposed observer can potentially be popularly applied to the production SCR systems for the advanced SCR control systems and on-board diagnostics. 1 Corresponding author. Contributed by the Dynamic Systems Division of ASME for publication in the J...

... interconnection on a time-varying spatial domain. Such a system is actuated not at the moving cage boundary, but at a separate fixed boundary where a hydraulic actuator acts on a floating sheave. In this paper, an observer-based output-feedback control law for the suppression of the axial vibration in the varying...

..., a hill climb search algorithm was developed to perform maximum power point tracking. The impact of the cylinder's rotation speed on the turbine net output power was evaluated. A controlled direct current motor was used to provide torque, based on the Magnus turbine model, and drive a permanent magnet...

...A. Hachana; M. N. Harmas In this paper, a new robust terminal synergetic control scheme is proposed to regulate blood glucose level in diabetic patients (type I diabetes), based on recently developed synergetic control and a terminal attractor technique. The technique presented has the advantage...

... Time Stability Under Perturbing Forces and on Product Spaces ,” IEEE Trans. Autom. Control , 12 ( 1 ), pp. 54 – 59 . 10.1109/TAC.1967.1098483 [17] Michel , A. , and Porter , D. , 1972 , “ Practical Stability and Finite-Time Stability of Discontinuous Systems ,” IEEE Trans. Circuit...