Themainpurpose of this paper is to adapt the so-called Shubert algorithm for extremumseeking control of general dynamic plants. This algorithm is a good representative of the ‘‘sampling optimization methods’’ that achieve global extremum seeking on compact sets in the presence of local extrema. The algorithm applies to Lipschitz mappings; the model of the system is assumed unknown but the knowl...

For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of carts position and orientation to the desired set point. The controller design relies on converting the carts dynamics to an advantageous form, and the robust linear feedback control laws steer the carts position and orientat...

Current engineering practice for adaptive control schemes is to base the design on globally convergent schemes for simple plant models, An important class of such schemes uses least squares estimation of assumed simple input–output models and constructs the controller using the parameter estimates. This paper studies the robustness of such schemes to the presence of unmodelled plant colourcd no...

abstract: this paper presents dynamic modelling and control of a linear prismatic series of elastic actuator. the capability of generating large torques is why this actuator is increasingly used in human-assistive robotic systems. due to having human in the loop, the actuator requires precise control. a fractional pid controller known for its improved performance is used for the control, due to...

This paper presents a new observer based fuzzy terminal sliding mode controller design for a class of fractional order nonlinear systems. Robustness against uncertainty and disturbance, the stability of the close loop system and the convergence of both the tracking and observer errors to zero are the merits of the proposed the observer and the controller. The high gain observer is applied to es...

This article presents a fuzzy robust Mixed - Sensitivity Gain - Scheduled H controller based on the Loop -Shaping methodology for a class of MIMO uncertain nonlinear Time - Varying systems. In order to design this controller, the nonlinear parameter - dependent plant is first modeled as a set of linear subsystems by Takagi and Sugeno’s (T - S) fuzzy approach. Both Loop - Shaping methodology and...

In this paper, the control Lyapunov function (CLF) approach is adopted to investigate finite-time attitude of rigid spacecraft subject parameter uncertainty and external disturbance. By using an extended state observer estimate disturbance, a CLF controller proposed for stabilization system. The designed includes two parts. first part classical based controller, which ensure globally asymptotic...

This paper addresses the problem of dynamic positioning and way-point tracking of underactuated autonomous underwater vehicles (AUVs) in the presence of constant unknown ocean currents and parametric modeling uncertainty. A nonlinear adaptive controller is proposed that steers an AUV along a sequence of way-points consisting of desired positions (x, y) in a inertial reference frame, followed by...

This paper deals with the Cross-Entropy method application in the control theory. The method is a the combinatorial optimization technique that is mostly used in the networks theory and could be used in deterministic optimization problems as well. The paper shows the possibiliy of the Cross-Entropy usage in the control parameter tuning. Similar to genetics algorithms, this method minimizes a gi...