In this paper the control of flexible joint manipulators is studied in detail. The model of N -axis flexible joint manipulators is derived and reformulated in the form of singular perturbation theory and an integral manifold is used to separate fast dynamics from slow dynamics. A composite control algorithm is proposed for the flexible joint robots, which consists of two main parts. Fast contro...

This paper addresses the distributed optimal decoupling synchronous control of multiple autonomous unmanned linear systems (MAUS) subject to complex network dynamic coupling. The leader–follower mechanism based on neighborhood error dynamics is established and coupling term regarded as external disturbance realize cooperative each agent. Bounded L2-Gain problem for formulated into a multi-playe...

This paper presents an adaptive Takgi-Sugeno (T-S) fuzzy terminal sliding-function controller (AFTSFC) approach to synchronize two chaotic systems with parameter mismatch. First, an appropriate terminal sliding function (TSF) is designed and then represented by the T-S fuzzy model. The T-S fuzzy terminal sliding-function (FTSF) is applied to the control law. Different from classical terminal sl...

In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive Robust Outer Loop Control (AROLC) is proposed. Compared to the conventional predictor based approaches, the proposed controller is capable of negotiating any inp...

This paper introduces an optimal tracking controller for robot manipulators with saturation torques. The model is presented as a strict-feedback nonlinear system. Firstly, the position control problem transformed into problem. Subsequently, saturated law designed. determined through solution of Hamilton-Jacobi-Bellman (HJB) equation. We use reinforcement learning algorithm only one neural netwo...

In this paper, a control scheme based on state prediction is proposed for class of nonlinear systems subject to input delay and external disturbance. Firstly, as constant delay, an improved that combining with dynamic surface (DSC) technique proposed, which can compensate the completely. Secondly, by considering disturbance, effective controller prediction, DSC disturbance observer presented ta...

This paper presents the design of two predefined-time active fault-tolerant controllers for trajectory tracking autonomous underwater vehicles (AUVs) which can address actuator faults without causing saturation. The first controller offers improved steady-state precision, while second ensures a nonsingular property. Firstly, sliding mode is formulated based on disturbance observer by integratin...

In this paper, we utilize a Lyapunov-based design approach to construct a visual servoing controller for a robot manipulator that ensures uniformly ultimately bounded (UUB) endeffector position tracking performance despite parametric uncertainty throughout the entire robot/camera system. The UUB end-effector tracking result exploits information from both a fixed camera and a camera-in-hand, alt...

This paper addresses three related issues concerning the path following control of a podded propulsion unmanned surface vehicle (USV), namely modeling, guidance and control. The pod is different from the general propeller-rudder propulsion device, and its essence is a vector thruster. Therefore, first, through various assumptions and simplification, the three-degree of freedom (DOFs) planar mot...