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To obtain precise motion control of wafer stages, an adaptive neural network and fractional-order super-twisting control strategy is proposed. Based on sliding mode control (SMC), the proposed controller aims to address two challenges in…
This paper deals with the stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is…
In experimental robotics, researchers may face uncertainties in parameters of a robot manipulator that they are working with. This uncertainty may be caused by deviations in the manufacturing process of a manipulator, or changes applied to…
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
We consider a robust stabilization of the fourth-order oscillatory systems with non-collocated output sensing. Worth recalling is that the fourth-order systems are relatively common in mechatronics as soon as there are two-mass or more…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…
This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this…
This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to be the same as another free-floating rigid-body (with…
This paper deals with designing a robust fixed-order dynamic output feedback controller for uncertain fractional order linear time invariant (FO-LTI) systems by means of linear matrix inequalities (LMIs). Our purpose is to design a low…
In digital sliding mode control implementations, discretization-induced chattering and inter-sample blindness can severely degrade the closed-loop performance, especially in case of fast perturbations. This paper addresses these challenges…
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benefits of compliance to external forces of admittance control…
This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…
This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…