This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

typical production objectives in distillation process require the delivery of products whose compositions meet certain specifications. the distillation control system, therefore, must hold product compositions as near the set points as possible in faces of upset. in this project, inferential model predictive control, that utilizes an artificial neural network estimator and model predictive cont...

In this paper, a two-level hierarchical intelligent control system is developed on a mobile robot to deal with target tracking and obstacle avoidance tasks. A stereo vision subsystem is first introduced. It can perceive video information in the environment to locate objects, including locating targets and obstacles precisely. This subsystem possesses two CCD cameras mounted on the top of a robo...

Dynamic information flow tracking (DIFT) works by tagging (or tainting) data and tracking it to measure the information flow throughout the system. Existing DIFT systems have limited support for address and control dependencies, and therefore cannot track information flow within a full system without addressing these very challenging dependencies in an application-specific fashion. A general wa...

This paper is devoted to trajectory tracking control of port-controlled Hamiltonian systems based on generalized canonical transformations. A general framework of tracking control utilizing the passivity property is proposed. Firstly, it is shown how to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. Secondly, a pra...

this paper presents a cooperative control which is applied to the secondary control of a microgrid controlled via a multi-agent scheme. balancing power that leads to voltage and frequency stability in a microgrid is essential. the voltage and frequency regulations are limiting within the specified limits and conveying them to their nominal values. limiting and conveying the voltage and frequenc...