conjugated polymer actuators can be employed to achieve micro and nano scale precision, and have a wide range of applications including biomimetic robots, and biomedical devices. in comparison to robotic joints, they do not have friction or backlash, but on the other hand, they have complicated electro-chemo-mechanical dynamics which makes modelling and control of the actuator really difficult....

Many real time processes have complex, uncertain and nonlinear dynamics. Boilers are nonlinear, time varying, multi-input multi-output (MIMO) systems, whose states generally vary with operating conditions. The major problem in controlling that system is that its drum water pressure and steam flow dynamics include an integrator that results a critically stable behavior. Conventional controller p...

Using Tracking Differentiators in Designing Nonlinear Disturbance Observers for Uncertain SystemsNaser Kazemzadeh, Saeed BarghandanAbstractIn the present paper, a practical designing method has been proposed for a novel class of NDOs based on TD. Such NDOs can nearly estimate all uncertain disturbances (specifically disturbances without prediction information). Regarding the outstanding perform...

this paper deals with leader-following and leaderless consensus problems of high-order multi-input/multi-output (mimo) multi-agent systems with unknown nonlinear dynamics in the presence of uncertain external disturbances. the agents may have different dynamics and communicate together under a directed graph. a distributed adaptive method is designed for both cases. the structures of the contro...

This paper deals with leader-following and leaderless consensus problems of high-order multi-input/multi-output (MIMO) multi-agent systems with unknown nonlinear dynamics in the presence of uncertain external disturbances. The agents may have different dynamics and communicate together under a directed graph. A distributed adaptive method is designed for both cases. The structures of the contro...

many real time processes have complex, uncertain and nonlinear dynamics. boilers are nonlinear, time varying, multi-input multi-output (mimo) systems, whose states generally vary with operating conditions. the major problem in controlling that system is that its drum water pressure and steam flow dynamics include an integrator that results a critically stable behavior. conventional controller p...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

Certain dynamical systems exhibit a sensitivity to initial conditions in which the asymptotic state is selected from an infinite number of possible states. The phase space of such systems is foliated with "attractors," each of which is associated with a particular set of initial conditions. The associated uncertain destination dynamics can be analyzed by an appropriate reduction of the full sys...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....