TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...

The theory, computer simulations, and experimental measurements are presented for electrically small two-element supergain arrays with near optimal endfire gains of 7 dB. We show how the difficulties of narrow tolerances, large mismatches, low radiation efficiencies, and reduced scattering of electrically small parasitic elements are overcome by using electrically small resonant antennas as the...

in this paper, a robust integral of the sign error (rise) feedback controller is designed for a rigid-link electrically driven (rled) robot manipulator actuated by direct current dc motor in presence of parametric uncertainties and additive disturbances. rise feedback with implicitly learning capability is a continuous control method based on the lyapunov stability analysis to compensate an add...