In this paper, a robust local controller has been designed to balance the power for distributed energy resources (DERs) in an islanded microgrid. Three different DER types are considered in this study; photovoltaic systems, battery energy storage systems, and synchronous generators. Since DER dynamics are nonlinear and uncertain, which may destabilize the power system or decrease the performanc...

A robust teleoperation controller design method for an underwater manipulator is proposed considering the master and the underwater slave separately. To achieve transparency and stability for a teleoperation of an underwater manipulator in unknown environments with time-varying uncertainties such as added mass, buoyancy, hydraulic drag and friction effect, an adaptive sliding mode control schem...

An adaptive nonlinear robust controller for a novel highly maneuverable dual-ducted UAV is considered in this paper. The dynamics of the system is highly nonlinear and not originally in the control-affine form. At first the equations governing the dynamics of the system are extracted. Then a change of variables is proposed to transform the dynamic equations into the control-affine form. It is a...

[32] Nader Sadegh and Roberto Horowitz. Stability and robustness analysis of a class of adaptive controllers for robotic manipulators. [40] John T. Wen and David S. Bayard. Robust control for robotic manipulators part ii: Adaptive case. Comparative experiments with a new adaptive controller for robot arms.

In this paper, a fuzzy adaptive neural-network model-following speed controller for permanent-magnet synchronous motor (PMSM) drives is proposed. The fuzzy neuralnetwork model-following controller (FNNMFC) consist of a proportional plus integral (PI) like-fuzzy controller in addition to an on-line trained neural-network model-following controller (NNMFC). This controller, FNNMFC, combines the m...

In order to improve the optimal performance of a machining process, a booster to improve the serve control system performance with high stability for EDM is needed. According to precise movement of machining process using electrical discharge (EMD), adaptive control is proposed as a major option for accuracy and performance improvement. This article is done to design adaptive controller based o...