control of well drilling operations poses a challenging issue to be tackled. the loss of well control could lead to the occurrence of blowout as a severe threat, involving the risk of human lives and environmental and economic consequences. conventional proportional-integral (pi) controller is a common practice in the well control operation. the small existing margin between pore pressure and f...

The problem of adaptive robust state observer design is considered for a class of uncertain dynamical systems with Time-varying delays. A new method is presented whereby a class of memoryless adaptive robust state observers with simpler structure is proposed. It is also shown that by employing the proposed adaptive robust state observer, the observation error between the observer state estimate...

Designing a robust tracking control for a non-linear MIMO system with uncertainty is one of the most complicated control problems. In this paper, sliding mode changed to non-linear controllable canonical form by input-output linearization. This, sliding surfaces can be defined in a way that we can de-couple equations and indicate the sliding conditions of multi-variable controller system. The u...

This paper is concerned with the consensus tracking problem of high order MIMO nonlinear multi-agent systems. The agents must follow a leader node in presence of unknown dynamics and uncertain external disturbances. The communication network topology of agents is assumed to be a fixed undirected graph. A distributed adaptive control method is proposed to solve the consensus problem utilizing re...

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 ...

In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened as Time-Delayed Adaptive Robust Control (TARC) is presented. The proposed control strategy approximates the unknown dynamics through time-delayed logic, and the switching logic provides robustness against the approxi...

Designing a robust tracking control for a non-linear MIMO system with uncertainty is one of the most complicated control problems. In this paper, sliding mode changed to non-linear controllable canonical form by input-output linearization. This, sliding surfaces can be defined in a way that we can de-couple equations and indicate the sliding conditions of multi-variable controller system. The u...

In this study, a robust neuro-adaptive controller for cable-driven parallel robots is proposed. The robust neuroadaptive control system is comprised of a computation controller and a robust controller. The computation controller containing a neural-network-estimator with radial basis function activator is the principal controller and the robust controller is designed to achieve tracking perform...