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Iterative learning control (ILC) is an effective strategy to deal with repetitive tasks and has been widely applied in industrial systems. Up to now, many control schemes have been proposed to improve the performance of ILC system against iteration-varying disturbances. However, most schemes do not directly utilize disturbance information to attenuate disturbances, which limits the performance of...
The continuous finite-time high-precision anti-disturbance control problem for robotic manipulators (RM) under external disturbances and parameter uncertainties is investigated in this article. Firstly, a continuous terminal sliding mode control (CTSMC) is introduced to stabilize the nominal dynamics of the RM in finite time. Secondly, a sliding mode differentiator is employed to estimate the lumped...
In this paper, based on recently developed finite-time convergent observer designs with time-varying coefficients, an observer is first designed to yield the explicit values of unknown parameters of a nonlinear boiler system. Then an adaptive controller is designed to regulate the states of the boiler system. Compared to existing results, the contribution of the paper is two-fold: (i) the new approach...
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