An enhanced controller to improve the robustness of Time Delay Control (TDC) for a robot manipulator in the presence of hard nonlinearities is proposed. The problem of TDC is first analyzed with TDC as a trajectory control for a robot manipulator in the presence of hard nonlinearity. The method of steepest descent, which is a type of adaptive control scheme, is used to solve this problem in ord...

In this paper, we design a robust lead compensator for a real Electromechanical Actuator (EMA) harmonic drive by introducing an approach based on H∞ control theory. Here, we address three main topics; experimental identification, uncertainty modelling, and robust control design for a real EMA harmonic drive system. This method verifies good tradeoff between the powerful H∞ controller and the un...

This paper presents an intelligent iterative learning control scheme that is applicable to a class of nonlinear systems. The presented controller guarantees system stability by using a feedback controller coupled with an intelligent compensator and achieves precise tracking by using a set of iterative learning rules. In the feedback plus intelligent controller unit, the feedback control part st...

Nulling interferometry has been proposed for the direct detection of Earth-like planets. Deep stable nulls require careful control of the relative intensity and phase of the beams that are being combined. We present a novel compensator, the Adaptive Nuller, that corrects the intensity and phase as a function of wavelength from 8 to 12 microm using a deformable mirror. This compensator has been ...

This paper considers the issue of modeling the pivot nonlinearity in a typical hard disk drive, taking into account viscous friction, Coulomb friction and hysteresis effects. It presents a nonlinear compensator design, based on a proposed model, to make the compensated system behave like a double integrator regardless of the magnitude of the input current. It describes extensive experiments, ca...

In the networked control system with random time delay in forward and feedback channels, a kind of controller based on Smith compensator and signal neuron incomplete differential forward PID is presented. First, using root locus method and simulink simulation software, the influences of network’s time delay on the system stability and dynamic performance are analyzed. Then, combined with incomp...

This paper proposes a feedforward friction compensator based on LuGre friction model. The various parameters in both the friction model and the system plant model would be coarsely estimated by the various experiments, and then the genetic algorithm (GA) finely optimizes the key parameters by a single identification experiment. When compared with the conventional black box learning algorithm, t...

In this paper, a linear parametric friction model is formulated by linearizing a nonlinear empirical friction model in parameters. A proposed decompositionbased control design framework is applied to synthesize the friction compensation scheme. A separate compensator is designed for each type of friction utilizing the most suitable control technique. The nominal friction is compensated by feedf...

This paper proposes a fault-tolerant control (FTC) scheme for polytopic linear parameter varying (LPV) systems. We first propose a fault compensator whose structure is simple, but effective against actuator faults. Then, in order to show its basic idea, we consider a state feedback FTC scheme based on the fault compensator. Next, the FTC algorithm is extended to output feedback FTC scheme. The ...

This paper presents a new method which applies the application of Genetic Algorithm as meta-heuristic optimization method for power system problems in distribution substations. With increase in load, any power system model suffers from disturbances. These disturbances effect the overall stability of the system. Criterias like voltage profile, power flows, losses tell us about the state of the s...