This article exposes that although some sensor-based nonlinear fault-tolerant control frameworks including incremental dynamic inversion can passively resist a wide range of actuator faults and structural damage without requiring an accurate model the system, their stability heavily relies on sufficient condition, which is unfortunately violated if direction unknown. Consequently, it proved in ...

the inverse problem of identifying an unknown source control param- eter in a semilinear parabolic equation under an integral overdetermina- tion condition is considered. the series pattern solution of the proposed problem is obtained by using the weighted homotopy analysis method (wham). a description of the method for solving the problem and nding the unknown parameter is derived. finally, tw...

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...