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A mixed Optimal/robust control is proposed is this paper for the tracking of rigid robotic systems under parametric uncertainties and external perturbations. The design objective is that under a prescribed disturbance norm level, an... more
A mixed Optimal/robust control is proposed is this paper for the tracking of rigid robotic systems under parametric uncertainties and external perturbations. The design objective is that under a prescribed disturbance norm level, an optimal control system is to be designed as well as a robust control to overcome the effect of uncertainties. The optimal control is based on the solution of a nonlinear Ricatti equation, which by virtue of the skew symmetry property of manipulators and an adequate choice of state variables becomes an algebraic equation easy to solve. We then investigate the design of the robust control of the uncertain system by a continuous state feedback function. It will be shown that our approach globally asymptotically stabilizes the uncertain dynamical system. We illustrate our approach by applying our control approach to a 2-DOF manipulator. Key-Words: Robot Manipulators, optimal control, robust control, uncertainties.
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This paper reviews the state of current electronics and states the drive toward high-temperature electronics. The problems specific to high-temperature effects on conventional electronics and prospects of alternative technologies like... more
This paper reviews the state of current electronics and states the drive toward high-temperature electronics. The problems specific to high-temperature effects on conventional electronics and prospects of alternative technologies like silicon-on-insulator, silicon carbide, and diamond are discussed. Improving petroleum recovery from oil wells with hightemperature coverage of downhole electronics, making combustion processes more efficient utilizing embedded electronics, programs for More Electric Aircraft and Vehicles necessitating distributed control systems, and environmental protection issues stress the need to use and develop high-temperature electronics. This makes high-temperature electronics a key-enabling technology in the 21st century. Actual applications using high-temperature electronics are discussed in some details. Also information and guidelines are included about supporting electronics needed to make a complete high-temperature system. The technology has been making ...
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This note addresses the stabilization problem of nonlinear chained-form systems with input time delay. We first employ the so-called σ-process transformation that renders the feedback system under a linear form. We introduce a particular... more
This note addresses the stabilization problem of nonlinear chained-form systems with input time delay. We first employ the so-called σ-process transformation that renders the feedback system under a linear form. We introduce a particular transformation to convert the original system into a delay-free system. Finally, we apply a state feedback control, which guarantees a quasi-exponential stabilization to all the system states, which in turn converge exponentially to zero. Then we employ the so-called -type control to achieve a quasi-exponential stabilization of the subsequent system. A simulation example illustrated on the model of a wheeled mobile robot is provided to demonstrate the effectiveness of the proposed approach.
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Research Interests: Philosophy, Humanities, Benefits realisation, Application, Mode, and 5 moreEtude, Loi, Tension, Approche, and Onduleur
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Research Interests: Engineering, Computer Science, Radial Basis Function, Adaptive Control, Neural Networks, and 10 moreParameter estimation, Artificial Neural Networks, Adaptive Systems, Uncertainty, Stability Analysis, Sliding mode control, Radial Basis Function Neural Network, Lyapunov function, Artificial Neural Network, and Underactuation
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Research Interests: Engineering, Computer Science, Motion control, Dynamic programming, Motion Planning, and 13 morePath planning, Fuzzy Control, Mobile Robots, Mobile Robot, Theoretical Analysis, Robot Control, Mobile Robot Navigation, Hybrid Architecture, Obstacle Avoidance, Path Tracking, Fuzzy Controller, Path Planning, and Finite State Machine
This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were employed. A... more
This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were employed. A Backstepping approach for the design of discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed loop system can be made stable in the sense of Lyapunov. The control design is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested through simulation on a car-like vehicle mobile robot.
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This paper addresses the problem of stabilizing the dynamic model of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the of the... more
This paper addresses the problem of stabilizing the dynamic model of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the of the closed loop system in the presence of parameter modeling uncertainty. This task is achieved by a non smooth transformation in the original system followed by the derivation of a smooth time invariant control in the new coordinates. The stability and convergence analysis is built on Lyapunov stability theory.