Control of a two-link manipulator using disturbance observer-based model predictive control

QFT Control of a Two-Link Rigid-Flexible Manipulator

This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...

Model Predictive Control of a Two - Link Flexible Manipulator

Fuzzy Disturbance Rejection Control of Two Link Robot Manipulator

Article History Received: 4 May 2017 Revised: 22 June 2017 Accepted: 18 July 2017 Published: 2 August 2017

qft control of a two-link rigid-flexible manipulator

this paper evaluates a new and simple controller design method based on qft (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. a piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. this system is modeled as a nonlinear multi-input multi-output (mimo) control systems whose inputs are two...

Application of Adaptive Disturbance Observer Control to an Underwater Manipulator

Hydrodynamics of the manipulator mounted on the vehicle are poorly known and time-varying. Furthermore, its motion is disturbed by the vehicle motion and current. This paper presents a non-regressor based adaptive control scheme with a disturbance observer for tracking the trajectory of underwater mobile platform-mounted manipulators. The presented control system does not require any informatio...