For a class of uncertain nonlinear dynamical systems in Brunovsky form a dynamic inversion (DI) based adaptive control framework is developed that provides stable adaptation in the presence of input constraints. The proposed design methodology, termed “positive μ-modification”, protects the control law from actuator position saturation. Moreover, the design is Lyapunov based and ensures bounded...

A novel anti-windup PID controller design method under holonomic constraints is proposed for nonlinear Euler-Lagrange systems with actuator saturation. The controller design is based on passivity, quasi-natural potential and saturated-position feedback. According to four saturation cases, switching of four integrating functions in the control law is utilized and four Lyapunov functions, such as...

This paper investigates the local stabilization problem of delayed fractional-order neural networks (FNNs) under influence actuator saturation. First, sector condition and dead-zone nonlinear function are specially introduced to characterize features saturation phenomenon. Then, based on Lyapunov method estimation technique Mittag–Leffler function, an LMIs-based criterion is derived guarantee s...

This paper is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertaintie...

This paper discusses short seeking control for a dual-actuator hard disk drive consisting of a coarse actuator (voice coil motor, VCM) and a fine actuator (piezoelectric actuator, PZT). A novel design method is proposed based on the dual-stage track following control and initial value adjustment (IVA). This method, which adjusts the initial values of the track-following controllers for short se...