Abstract: This paper studies the task-space tracking problem for networked robot manipulators, while the dynamic and kinematic parameters of each manipulator are unknown. A velocity observer is first developed to estimate the task-space velocity, and reference sufficient conditions for observer parameters are also given to guarantee the convergence of observation error. Based on the proposed ob...

In paper [1] a new robust decoupling state observer including an extra non-linear term has been proposed by Gu and Poon. This extra term is used to overcome the difficulty due to the unstructured parameter perturbation. It was highlighted that the nonlinear observer scheme requires the solution to a quadratic matrix inequality which is not straightforward. This inequality was rewritten as a qua...

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...

Abstract: Heating, Ventilating and Air Conditioning (HVAC) system is a nonlinear MIMO system which is very difficult to control. This paper presents adaptive fuzzy output feedback control based on observer for nonlinear HVAC System whose state variables are not available. Fuzzy systems are employed to approximate the unknown nonlinear functions of the HVAC system and the state observer is desig...

In this paper, an observer-based fuzzy adaptive controller for nonlinear systems with unknown control gain sign is investigated. Because the system states are not available for measurement, a tracking-error observer is constructed. In this controller, the adaptive fuzzy system is used to approximate the unknown nonlinearities and the Nussbaum function is incorporated to deal with the unknown co...

In this paper, we propose a polynomial fuzzy observer-controller for nonlinear systems where the design is achieved through the stability analysis of polynomial-fuzzymodel-based (PFMB) observer-control system. The polynomial fuzzy observer estimates the system states using estimated premise variables. The estimated states are then employed by the polynomial fuzzy controller for the feedback con...

Various methods are presented to control the attitude of satellite due to lack of information of yaw axis attitude so far. In this paper, a new method is used which is more general and is applicable to all types of satellites, with at least one controller. This method is not limited to YAW axis and can control the two other axes as well. One feature of this approach is the ability to be modi...

In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control base...

We propose a terminal sliding mode control (SMC) law based on adaptive fuzzy-neural observer for nonaffine nonlinear uncertain system. First, a novel nonaffine nonlinear approximation algorithm is proposed for observer and controller design. Then, an adaptive fuzzy-neural observer is introduced to identify the simplified model and resolve the problem of the unavailability of the state variables...

This paper considers the problem of observer-based H∞ control for a class of Itôtype stochastic delay systems with nonlinear perturbations. An observer-based controller is constructed based on Lyapunov-Krasovskii approach, which guarantees the closed-loop system is robustly stochastically asymptotically stable in the mean square with prescribed H∞ disturbance attenuation level for all admissibl...