In this paper, the authors present a modified convergent analytic algorithm for the solution of nonlinear boundary value problems by means of a variable parameter method and briefly, the method is called optimal variable parameter method. This method, based on the embedding of a parameter and an auxiliary operator, provides a computational advantage for the convergence of the approximate soluti...

A composite robust control scheme is proposed by combining a sliding mode controller with an adaptive fuzzy control algorithm to control a 3-DOF underactuated underwater vehicle with model parameter perturbations and environmental disturbances based on the backstepping control method and the Lyapunov stability theory. The adaptive fuzzy control algorithm is employed to compensate for model para...

This paper provides a solution to the composite adaptive output feedback tracking control problem for robotic manipulators. The proposed controller utilizes an update law that is a composite of a gradient update law driven by the link position tracking error and a least squares update law driven by the prediction error. In order to remove the controller's dependence on link velocity measurement...

Based on a combination of a PD controller and a switching type two-parameter compensation force, an iterative learning controller with a projection-free adaptive algorithm is presented in this paper for repetitive control of uncertain robot manipulators. The adaptive iterative learning controller is designed without any a priori knowledge of robot parameters under certain properties on the dyna...

An intelligent control method is proposed for control of rigid robot manipulators which achieves exponential tracking of repetitive robot trajectory under uncertain operating conditions such as parameter uncertainty and unknown deterministic disturbance. In the learning controller, exponentially stable learning algorithms are combined with stabilizing computed error feedforward and feedback inp...

This paper addresses the problem of stabilizing the dynamic model of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the of the closed loop system in the presence of parameter modeling uncertainty. This task is achieved by a non smooth transformation in the original system followed by t...

This paper describes an efficiency optimization control method for high performance interior permanent magnet synchronous motor drives with online estimation of motor parameters. The control system is based on an inputoutput feedback linearization method which provides high performance control and simultaneously ensures the minimization of the motor losses. The controllable electrical loss can ...

This paper presents solutions to handle ranking, equalities and bounds for the parameter estimates of a linear adaptive controller scheme used in the production of commercial fuels by blending. The control problem under consideration is a multi-variable output regulation problems with large uncertainties in the plant parameters. It can be solved using a specifically designed adaptive controller...

The speed tracking control problem of permanent magnet synchronous motors with parameter uncertainties and load torque disturbance is addressed. Fuzzy logic systems are used to approximate nonlinearities, and an adaptive backstepping technique is employed to construct controllers. The proposed controller guarantees the tracking error convergence to a small neighborhood of the origin and achieve...