This paper discusses the human postural control as a system engineering approach problem. Two main approaches are considered: neurological and engineering. From the neurological perspective, the problem is described, main sensory systems are identified, sensor fusion is suggested, and control system architecture and details are presented. Experimental results on both human subjects and on a spe...

Neural Network Model Predictive Control (NN-MPC) combines reliable prediction of neural network with excellent performance of model predictive control using nonlinear Levenberg-Marquardt optimization. It is shown that this structure is prone to steady-state error when external disturbances enter or actual system varies from its model. In this paper, these model uncertainties are taken into acco...

In this paper, we propose a control strategy allowing us to perform the dynamic walking gait of a virtual under-actuated robot even subjected to destabilizing external disturbances. This control strategy is based on two stages. The first one consists in using a set of pragmatic rules in order to generate a succession of passive and active phases allowing us to perform the dynamic walking of the...

Nonlinear characteristics are very common in marine steam turbine, such as control input constraints and external disturbances. Based on the active disturbance rejection control (ADRC), an anti-windup scheme is proposed to eliminate the undesired effects of nonlinear characteristics in the control system. In this scheme, firstly, a method of setting parameter is designed for nonlinear active di...

Abstract: This paper presents a robust control method via the intelligent adaptive backstepping design technique for stable walking of nine-link biped robots with unknown model uncertainties and external disturbances. In our control structure, the self recurrent wavelet neural network (SRWNN) which has the information storage ability is used to observe the uncertainties of the biped robots. The...

We consider in this paper the robust and perfect tracking (RPT) problem for multivariable linear systems with external disturbances. The problem is to design a proper controller such that the resulting overall closed-loop system is asymptotically stable and the controlled output almost perfectly tracks a given reference signal with an arbitrarily fast settling time in the face of external distu...

The decoupled control of torque and flux has made field-oriented control an attractive choice for high performance induction motor drives. However, changes in the speed tracking trajectory and external disturbances make it difficult to achieve an acceptable closed-loop tracking performance, especially when traditional linear controllers are used. This paper addresses this issue by applying dire...

In order to apply the sliding mode control to a remotely operated vehicle (ROV), prior knowledge of exact bounds for parameter uncertainties and external disturbances is a prerequisite. However, these bounds may not be easily obtained because of the complexity and unpredictability of the structure of uncertainties in the dynamics of ROVs. In order to overcome such a difficulty in the control of...

The problem of robust stabilization is considered for a class of systems with the delayed state perturbations, uncertainties, and external disturbances. It is assumed that the upper bounds of the delayed state perturbations, uncertainties, and external disturbances, are unknown. An improved adaptation law with σ– modification is first introduced to estimate these unknown bounds. Then, by making...

The disturbance accommodating control theory provides a method for designing feedback controllers which automatically detect and minimize the effect of waveform-structured disturbances. This paper presents a disturbance accommodating controller which utilizes a Kalman estimator to determine the necessary corrections to the nominal control input and thus minimizes the adverse effects of model un...