This paper presents a design of dynamic feedback control based on observer for a class of large scale Lipschitz nonlinear systems. The use of Differential Mean Value Theorem (DMVT) is to introduce a general condition on the nonlinear functions. To ensure asymptotic stability, sufficient conditions are expressed in terms of linear matrix inequalities (LMIs). High performances are shown through r...

In this paper we present a shear force feedback control method for a single-link flexible robot arm with a revolute joint for which it has been shown that direct bending strain feedback can suppress its vibration. Our primary concern is the stability analysis of the closed-loop equation which has not appeared in the literature. We show the existence of a unique solution and the exponential stab...

The development of adaptive observer techniques for nonlinear systems in the output canonical form is proposed applying additional impulsive feedbacks in the observer equations. The stability of new impulsive adaptive observers is investigated. It is shown that under some conditions the proposed impulsive feedbacks can improve the rate of the observer convergence or relax the requirement on per...

Proportional-Integral-Derivative (PID) controllers are the most employed controllers in industry. As one of the PID parameter tuning methods, partial model matching method is proposed by Kitamori. In this method, we can get the PID parameters calculated systematically. However, if we cannnot get the enough information about controlled object in advance, the performance of sysytem may become bad...

This paper analyzes the quantized feedback stabilization problem for a class of linear system with nonlinear disturbance, where the system and controller are connected via a communication channel. In this case, the effect of quantization errors is studied. A practical quantized scheme is designed such that the transmission error decays to zero exponentially. Meanwhile, a sufficient condition in...

The ability to control a robot in both constrained and unconstrained situations is important. One way to do this is using a switching controller which uses a force controller for constrained space and a position controller for unconstrained space. This paper develops a switching controller for a single flexible link manipulator and provides experimental results for a motion from unconstrained t...

The ability to control a robot in both constrained and unconstrained situations is important. One way to do this is using a switching controller which uses a force controller for constrained space and a position controller for unconstrained space. This paper develops a switching controller for a single flexible link manipulator and provides experimental results for a motion from unconstrained t...

This study on the design of PID controllers for flexible single-arm robot system optimizationPSO method is focused so that the coefficients of the PID controller are reduced. In this study,PID controller and PSO algorithm have been described and then by using MATLAB, PIDcontrol was simulated. Then by PSO algorithm, attempts to reduce the PID coefficients are givenby simulation. Finally PID coef...

This paper presents a family of climbing robots that are using a track-wheel mechanism for locomotion mechanism. There are three robots: High speed vertical climbing robot, Flexible caterpillar robot, and Multi-linked climbing robot. The high speed vertical climbing robot uses suction pads to be attached on walls, and the robot has an advantage of high climbing speed of 14 m/min. The flexible c...

SUMMARY The question of control and stabilization of flexible space robots is considered. Although, this approach is applicable to space robots of other configurations, for simplicity, a flexible planar two-link robot, mounted on a rigid floating platform, is considered. The robotic arm has two revolute joints and its links undergo elastic deformation in the plane of rotation. Based on nonlinea...