This paper presents a control strategy for the balance of humanoid robots while they are standing without walking, using the active disturbance rejection control approach. Such control technique regulates the position of the ZMP of the humanoid in order to keep it within the support polygon by means of a discrete-time linear quadratic regulator enhanced with on-line disturbance detection and co...

Aimed at the problems of low control accuracy and weak robustness influenced by external disturbance, friction, load changes, modeling errors and other issues in ammunition auto-loading robot control system, a new robust adaptive fuzzy sliding mode controller based on fuzzy compensation is proposed. The control architecture employs fuzzy systems to compensate adaptively for plant uncertainties ...

The paper studies the visibility maintenance problem (VMP) for a leader-follower pair of Dubins-like vehicles with input constraints, and proposes an original solution based on the notion of controlled invariance. The nonlinear model describing the relative dynamics of the vehicles is interpreted as linear uncertain system, with the leader robot acting as an external disturbance. The VMP is the...

The geometric control properties of vehicles with active suspensions are analyzed. A special attention is devoted to the problem of disturbance decoupling. Active suspensions of advanced vehicles allow the active rejection of external disturbances exerted on the sprung mass of the vehicle and caused by road surface irregularity. We focus on the road irregularity disturbances with the purpose of...

An indirect adaptive control for an autonomous underwater vehiclemanipulator system (UVMS) based on an extended Kalman filter (EKF) is presented in this paper. This method overcomes the disadvantages of existing disturbance observers and direct adaptive control schemes, which are designed or analyzed by linear system techniques and regressor-based techniques. The proposed control scheme can be ...

Disturbance modeling and design of state estimators for offset-free Model Predictive Control (MPC) with linear state-space process models is considered in the paper for deterministic constant-type external and internal disturbances (modeling errors). The application and importance of constant state disturbance prediction in the state-space MPC controller design is presented. In the case with a ...

Abstract To address the problem that attitude of a rigid satellite in orbit is susceptible to external disturbing moments, control method based on backstepping sliding mode proposed, which has strong robustness and anti-disturbance capability. Firstly, coupling term mathematical model eliminated by using method, secondly, law designed reduce sensitivity system disturbance moment change accelera...

The paper studies the visibility maintenance problem (VMP) for a leader-follower pair of Dubins-like vehicles with input constraints, and proposes an original solution based on the notion of controlled invariance. The nonlinear model describing the relative dynamics of the vehicles is interpreted as linear uncertain system, with the leader robot acting as an external disturbance. The VMP is the...

In this paper, we are concerned with the boundary feedback stabilization of a cascade of heat PDE–ODE system with Dirichlet/Neumann interconnection and with the external disturbance flowing the control end. In order to deal with the disturbance, the sliding model control (SMC) is integrated with the backstepping approach, where the disturbance is supposed to be bounded only. The existence and u...

OBJECTIVE To define the nature of micturition disturbance in patients with acute idiopathic autonomic neuropathy (AIAN). METHODS Micturitional symptoms were observed during hospital admissions and the in outpatient clinics in six patients with clinically definite AIAN (typical form in four, cholinergic variant in one, autonomic-sensory variant in one). Urodynamic studies included medium-fill ...