in this paper, a new robust controller based on geometric homogeneity and adaptive integral sliding mode is proposed for a class of second order systems. the upper bound of the system disturbances is not required. fully unknown parameters have been considered in the described model and its finite–time convergence to zero equilibrium point is proved. moreover, the controller is developed in the ...

tthe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. this paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. as a novelty, the proposed controller employs a simple gaussian radial-basis-function network as an uncertainty estimator. the proposed netw...

this paper introduces a technique for controlling a class of uncertain chaotic systems using an adaptive fuzzy proportional-integrator-derivative (pid) controller with h∞ tracking performance. the purpose of this work is to achieve optimal tracking performance of the controller using backtracking search algorithm (bsa). bsa, which is a novel heuristic algorithm, has an easy structure with singl...

This paper proposes a model reference tracking based fuzzy adaptive PI (MRFAPI) controller for non-linear process plant. The second order reference model is proposed for the system. The conical-tank level process system is used as a process plant. The proposed MRFAPI controller is combined with fuzzy logic and conventional variable PI controllers. The on-line estimation of the controller parame...

In this paper, a new PI observer of flux of induction motor is proposed. In the conventional PI observer, the PI correctors make the correction of estimation errors of stator currents of induction motor. In the proposed PI observer, we replace the two PI correctors of the structure of the PI observer by two adaptive neuro-fuzzy correctors. The aim is to enhance the robustness of correction of e...

in this paper some upper and lower bounds for the greatest eigenvalues of the pi and vertex pimatrices of a graph g are obtained. those graphs for which these bounds are best possible arecharacterized.

— In this paper, an online adaptive optimal control algorithm based on policy iteration (PI) is developed to solve the H∞ control problem of partially unknown nonlinear continuous-time (CT) systems. The convergence of existing PI algorithms for solving the H∞ control is guaranteed under the restrictive persistency of excitation (PE) condition. By using the idea of experience replay this conditi...