In this paper, an adaptive synchronization sliding mode control is proposed for a dual-arm robot against parameter variations, external disturbance, and unknown directions. The designed by using cross-coupling error to guarantee the position of manipulator. objective synchronize movement both arms beside trajectory tracking issue. order manage lumped uncertainties caused directions, extended st...

This note examines the robustness properties of the nonlinear PI control method to ignored actuator dynamics. It is proven that global boundedness and regulation can be achieved for sector bounded nonlinear systems with unknown control directions if the actuator dynamics are sufficiently fast and the nonlinear PI control gain is chosen from a subclass of the Nussbaum function class. Simulation ...

This note examines the robustness properties of the nonlinear PI control method to ignored actuator dynamics. It is proven that global boundedness and regulation can be achieved for sector bounded nonlinear systems with unknown control directions if the actuator dynamics are sufficiently fast and the nonlinear PI control gain is chosen from a subclass of the Nussbaum function class. Simulation ...