This paper is concerned with the synthesis of dynamic model of the redundant manipulator robot based on Linear Parameter Varying approach. To evaluate its behavior and in presence of external disturbance several motions profiles are developed using a new algorithm which produce smooth trajectories in optimal time. The main advantages of this proposed approach are its robustness and its simplici...

The rehabilitation exoskeleton is an effective piece of equipment for stroke patients and the aged. However, this complex human–robot system incurs many problems, such as modeling uncertainties, unknown interaction, external disturbance, actuator fault. This paper addresses adaptive fault-tolerant tracking control a lower limb joint driven by electro-hydraulic (EHA). First, model built consider...

This paper is concerned with the partial anti-synchronization of 4D financial hyper-chaotic system periodically external disturbance. Firstly, existence problem for nominal proven. Then, a suitable filter presented, by which disturbance asymptotically estimated. Moreover, two estimator (DE)-based controllers are designed to realize such system. Finally, numerical simulation verifies effectivene...

Robust autopilot design for bank-to-turn (BTT) missiles under disturbances and uncertainties is investigated in this paper using the disturbance observer concept. It is well known that the BTT missile dynamics undergo a substantial changes during its flight. In this disturbance observer based control setting, the influences caused by parameter variations are merged into disturbance terms and re...

Distributed formation tracking control of a multi-quadrotor system based on sliding mode and rate bounded PID controller in the presence internal perturbation external disturbance

Purpose: The patellofemoral pain syndrome (PFPS) is one of the most common musculoskeletal disorders of the knee joint. Hip muscles’ weakness is one of the reasons for PFPS occurrence. The aim of this study was to recognize the effective muscle group in prevention and treatment of patients with PFPS. Methods: This is a prospective and quasi-experimental study in which 30 participants (15 ...

Chronic sleep disturbance induced by traffic noise is considered to cause environmental sleep disorder, which increases the risk of cardiovascular disease, stroke, diabetes and other stress-related diseases. However, noise indices for the evaluation of sleep disturbance are not based on the neurophysiological process of awakening regulated by the brainstem. In this study, through the neurophysi...

This paper presents the robust design for chaotic cryptosystems. The cryptosystem combines cryptograph with chaotic synchronization. The hyperchaotic signals are synchronized between the encrypter and the decrypter based on observer gains. The technique of linear matrix inequality (LMI) is applied to determine the observer gains. A theorem has been proposed to guarantee the robust stabilization...