Received Mar 30, 2013 Revised Aug 15, 2013 Accepted Aug 29, 2013 In this paper, two types of robust adaptive compensation control schemes for the trajectory tracking control of robot manipulator with uncertain dynamics are proposed. The proposed controllers incorporate the computed-torque control scheme as a nominal portion of the controller; an adaptive fuzzy control algorithm to approximate t...

In this work another perturbation estimation sliding mode based control algorithm is introduced for a class of robotic systems in the presence of structured and unstructured uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity. The full order plant with the actuator voltages as control inputs is assumed in control design. The decentrali...

This paper presents controlling of a class of nonlinear systems with structured and unstructured uncertainties using fuzzy sliding mode control. First known dynamics of the system are eliminated through feedback linearization and then fuzzy sliding mode controller is designed using TS method, based on the Lyapunov method, which is capable of handling uncertainties. There are no signs of the und...

The trajectory tracking control problem of dynamic nonholonomic wheeled mobile robots is considered via visual servoing feedback. A kinematic controller is firstly presented for the kinematic model, and then, an adaptive sliding mode controller is designed for the uncertain dynamic model in the presence of parametric uncertainties associated with the camera system. The proposed controller is ro...

A novel approach is presented to address the problem of minimum-phase robustness for second-order linear systemswithuncertainties in the input in uencematrix.Twocases are studied, includingunstructured uncertainties and unidirectional perturbation of the input matrix. A tolerable margin is given for unstructured uncertainties in terms of the structured singular value to guarantee minimum phase...

This paper addresses the robust learning control problem for a class of nonlinear systems with structured periodic and unstructured aperiodic uncertainties. A recursive technique is proposed which extends the currently popular backstepping idea to the robust repetitive learning control systems. An learning evaluation function instead of a Lyapunov function is formulated as a guideline for deriv...

Robust attitude tracking control of a small-scale aerobatic helicopter using geometric and backstepping techniques is presented in this article. A nonlinear coupled rotor-fuselage dynamics model of the helicopter is considered, wherein the rotor flap dynamics is modeled as a first order system, while the fuselage is as a rigid body dynamically coupled to the rotor system. The robustness of the ...

In this paper we consider a robust H2 control problem for two-degree of freedom (2DOF) control systems with structured uncertainties. We show that it can be reduced to a scaled H∞ synthesis problem with one additional Linear Matrix Inequality (LMI) condition. Particularly it can be reduced to an LMI optimization problem if the uncertainty is unstructured. As a result, we can obtain the optimal ...