The paper puts forward a control scheme by a computed torque controller plus a fuzzy compensator concerning the issue of tracking control of uncertain robotic manipulator. Computed torque controller is used for the nominal system and the fuzzy compensator is used to control the uncertain system. The parameters of fuzzy compensator are adaptively adjusted based on Lynapunov stability theory. The...

This paper presents a novel way of generating the reference currents for an active filter and/or a static compensator. A compensator structure is proposed which is capable of balancing an unbalanced delta-connected load that may also draw harmonic currents. In addition to balancing the load, the supply side power factor is also made unity. The theory of instantaneous symmetrical components is u...

When applying feedback control in active noise control, phase lag caused by transducer dynamics and time delay between microphones and noise sources limits the bandwidth of the controller considerably. The proposed method to increase stability is to compensate the phase lag by applying a Smith compensator. The compensator needs a model of the acoustic plant. As model, only the transducer dynami...

In this paper Hybrid Direct Neural Controller (HDNC) with Linear Feedback Compensator (LFBC) has been developed. Proper initialization of neural network weights is a critical problem. This paper presents two different neural network configurations with unity and random weight initialization while using it as a direct controller and linear feedback compensator. The performances of these controll...

Abstract: This paper studies the global robust practical output tracking problem using a dynamic output feedback controller (i.e., an output compensator) for a family of uncertain non-linear systems whose Jacobian linearisation may be unstabilisable and/or undetectable. It is shown that under some mild conditions on a given system, there is an output compensator achieving global robust practica...

A non-linear compensator is investigated for handling of non-linear effects in diesel engines. This non-linear compensator is a non-linear state dependent input transformation that is developed by inverting the models for EGR-flow and turbine flow having actuator position as input and flow as output. The nonlinear compensator is used in an inner loop in a control structure for coordinated contr...

Institute of Mathematics of the Academy of Sciences of the Czech Republic provides access to digitized documents strictly for personal use. Each copy of any part of this document must contain these Terms of use. This paper has been digitized, optimized for electronic delivery and stamped with digital signature within the project DML-CZ: The Czech Digital Mathematics Library In this work, given ...

A fuzzy-logic-based turn-off angle compensator for torque ripple reduction in a switched reluctance motor is proposed. The turn-off angle, as a complex function of motor speed and current, is automatically changed for a wide motor speed range to reduce torque ripple. Experimental results are presented that show ripple reduction when the turn-off angle compensator is used.

We describe in superspace a classical theory of two dimensional (1, 1) dilaton supergravity with a cosmological constant, both with and without coupling to a massive superparticle. We give general exact non-trivial superspace solutions for the compensator superfield that describes the supergravity in both cases. We then use these compensator solutions to construct models of two-dimensional supe...

A dynamic inversion compensation scheme is presented for backlash. The compensator uses the backstepping technique with neural networks (NN) for inverting the backlash nonlinearity in the feedforward path. The technique provides a general procedure for using NN to determine the dynamic preinverse of an invertible dynamical system. A tuning algorithm is presented for the NN backlash compensator ...