This short note points out an improvement on the robust stability analysis for electrically driven robots given in the paper. In the paper, the author presents a FAT-based direct adaptive control scheme for electrically driven robots in presence of nonlinearities associated with actuator input constraints. However, he offers not suitable stability analysis for the closed-loop system. In other w...

This paper considers the problem of stabilization of discrete-time systems with actuator nonlinearities. Specifically, dynamic, output feedback control design for discrete-time systems with time-varying, sectorbounded, input nonlinearities is addressed. The proposed framework is based on a linear matrix inequality approach and directly accounts for robust stability and robust performance over t...

This paper addresses an approximation-based anti-windup (AW) control strategy for suppressing the windup effect caused by actuator saturation nonlinearity in proportional–integral–derivative (PID) controlled systems. The effect of actuator constraint is firstly regarded as a disturbance imported to the PID controller. The external disturbance can then be modeled by a linear differential equatio...

In this paper we develop fixed-order (i.e., fulland reduced-order) controllers for systems with actuator amplitude constraints and exogenous bounded energy LZ disturbances. The actuator amplitude saturation and disturbance rejection constraints are embedded within an optimization problem by constructing a Riccati equation whose solution guarantees closed-loop global asymptotic stability in the ...

This paper focuses on the motion control problem of an omnidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. R...

The problem of designing a stabilizing feedback controller in the presence saturating actuators and multi-rate (asynchronous) aperiodic state measurements is studied. Specifically, we consider scenario which plant states are collected at end sporadic asynchronous fashion. A hybrid used to perform fusion sampled different times. In between sampling events, behaves as copy provides control signal...

In this paper, we provide a simple decentralized saturated repetitive learning controller for asymptotic tracking of robot manipulators under actuator saturation. The proposed control consists of a saturated nonlinear proportional plus derivative action and a saturated learning-based feedforward compensation term. A Lyapunov-like stability argument is employed to show semiglobal asymptotic trac...

This paper presents an intelligent fault tolerant flight control system that blends aerodynamic and propulsion actuation for safe flight operation in the presence of actuator failures. Fault tolerance is obtained by a nonlinear adaptive control strategy based on on-line learning neural networks and actuator reallocation scheme. The adaptive control block incorporates a recently developed techni...