Conjugated polymer actuators can be employed to achieve micro and nano scale precision, and have a wide range of applications including biomimetic robots, and biomedical devices. In comparison to robotic joints, they do not have friction or backlash, but on the other hand, they have complicated electro-chemomechanical dynamics which makes modelling and control of the actuator really difficult. ...

Networked control systems (NCSs) offer many advantages over conventional control; however, they also demonstrate challenging problems such as network-induced delay and packet losses. This paper proposes an approach of predictive compensation for simultaneous networkinduced delays and packet losses. Different from the majority of existing NCS control methods, the proposed approach addresses co-d...

This paper presents a cascaded adaptive control scheme for marine vehicles where the nonlinear equations of motion include a model of the actuator dynamics. The adaptive controller does not require the parameters of the vehicle dynamics and the actuator time constants known a priori. Both the velocity and position tracking errors are shown to converge to zero by applying Barbb alat's lemma. Fur...

A novel approach to neural network based tracking-control of robot manipulator including actuator dynamics is proposed by using of backstepping method. A simple two-step backstepping is considered for an nlink robotic system, and a feedforward neural controller is designed at second step where structured and unstructured uncertainties in robot dynamics and actuator model are approximated by thi...

This paper proposes a fuzzy TSK controller to control a rotary flexible joint manipulator. The flexibility of joint is performed by means of a solenoid nonlinear spring, which is connected between actuator output and joint input in a bilateral connection form to transfer the produced torque; also the smooth model of frictions is used for modeling the dynamics of flexible manipulator. The effect...

We consider a class of nonlinear control systems for which stabilizing feedbacks and corresponding Lyapunov functions for the closed loop systems are available. In the presence of feedback delays and actuator errors, we explicitly construct input-tostate stability (ISS) Lyapunov-Krasovskii functionals for the resulting feedback delayed dynamics, in terms of the available Lyapunov functions for ...

A practical method is proposed for estimating the inertial parameters of robot manipulators with substantial unmodeled joint kiction and actuator dynamics. The manipulator is mounted on a six-axis forcehorque sensor. Sensor measurements and joint velocities recorded during manipulator motion are used to identify the inertial parameters. The unmodeled joint piction and actuator dynamics do not d...

Fault diagnosis for a class of discrete-time delayed complex interconnected networks with linear coupling in the case of actuator fault is studied. For the case of unavailability of network state, a state observer is first designed. Then a fault diagnosis observer is designed to detect the actuator fault on the basis of online adaptive approximator, which can approximate the unmodeled dynamics ...

In this paper we present a design method of Sliding Mode Observer (SMO) applied to reconstruct both actuator and sensor faults for a class of output time-delay systems. To guarantee the quadratically stability of the estimation error dynamics, sufficient conditions are developed with the LyapunovKrasovskii approach arising a set of Linear Matrix Inequality (LMI) optimization. Applying the equiv...

Structural flexibility in spacecraft can degrade the accuracy of the attitude control system. With this motivation in mind, we compare the performance of inertia-free attitude control laws for a spacecraft with an undamped discrete flexible mode and demonstrate robustness with respect to unmodeled spacecraft dynamics and actuator saturation. First the equations of motion are derived using Lagra...