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This article considers an improvement in dead zone modification scheme for robust model-reference adaptive control of SISO and TITO systems, described by input-output uncertain linear models with actuator faults. In the conventional approach, adaptation of the controller parameters is ceased in the dead zone, which leads to steady state tracking error. This problem is resolved by tuning specific controller...
This paper proposes a novel integral sliding mode on-line control allocation scheme for fault tolerant control. The order of the sliding motion in the sliding mode is not reduced as in conventional sliding mode schemes. Also the robustness of the closed loop system can be guaranteed throughout the entire response, starting from the initial time instant, because there is no reaching phase. Actuator...
In this paper, we propose motion control of a planar biped robot without ankle with its center of mass (COM) located at the hip using a novel model. Using the properties of this novel model, conditions of stability of periodic orbits are derived using inverted pendulum model and Poincare map method for nonlinear systems with impact. Using optimization of mechanical work and considering periodic and...
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