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For the uncertainties which exist objectively in the robot system impact on the motion performance of joint robot system, an active disturbance rejection control method of joint robot system is proposed based on state observation and compensation. The uncertainties of the system are introduced by constructing extended state in the method, and uncertainties and state variables are estimated by an Extended...
The pointing accuracy of microsatellite is vulnerable to space environmental disturbances and the internal uncertainty of moment-of-inertia variation due to its smaller size and weight. The attitude control of microsatellite has been a difficult problem due to the disturbances and uncertainty, as well as the combination of control actuators. The H∞ control can guarantee the robustness stability against...
Exoskeleton suit is a typical human-machine system. Control the exoskeleton suit to track the pilot's moving trajectory as well as to minimize the human-machine interaction force. The suit will help decrease the pilot's power consumption and assist the pilot to carry heavy load. Impedance control was introduced to the control of exoskeleton suit. As the control laws that based on the dynamic model...
In this paper, an interval type-2 fuzzy kinematic control (IT2-FKC) combined with an interval type-2 adaptive fuzzy sliding-mode dynamic control (IT2-AFSMDC) are proposed for controlling the trajectory-tracking of a nonholonomic wheeled mobile robot (WMR). Firstly, an interval type-2 fuzzy logic controller designed for the kinematic model of the WMR is introduced, and then the IT2-AFSMDC is developed...
We develop a Linear Matrix Inequality (LMI) tool for analyzing the stability and performance of adaptive controllers that employ sigma-modification. The formulation involves recasting the error dynamics composed of the tracking error and the weight estimator error into a linear parameter varying form. We show how stability, convergence rate, domain of attraction, and the transient and steady state...
Motion control systems have found their application in various industry products. Common issues encountered when designing this type of systems are nonlinearities and uncertainties (e.g., unknown parameters, unmodeled dynamics, and disturbances). In this paper, we study controller design for a class of motion systems with rotary components. The systems are assumed to have unknown parameters which...
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