Research Interests: Robotics, Computer Science, Artificial Intelligence, Adaptive Control, Motion control, and 15 moreStability, Coordinated Control of FACTS Devices, Tracking, Robot kinematics, ROBOT, Arm, Stability Analysis, Sliding mode control, Robot Control, Robot Arm, Constraint, Sliding Mode, Dynamic Model of WSN, dynamic model, and Coordinated Control
... Camille Alain Rabbath c & Chun-Yi Su a * pages 1699-1708. ... Robust Adaptive Control of Non-Linear Systems with Unknown Time Delays. Automatica , 41: 1181–1190. [CrossRef], [Web of Science ®] View all references; Brokate... more
... Camille Alain Rabbath c & Chun-Yi Su a * pages 1699-1708. ... Robust Adaptive Control of Non-Linear Systems with Unknown Time Delays. Automatica , 41: 1181–1190. [CrossRef], [Web of Science ®] View all references; Brokate and Sprekels 19964. Ge, SS and Wang, J. 2003. ...
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Research Interests: Mechanical Engineering, Mathematics, Applied Mathematics, Computer Science, Stabilization, and 14 moreFeedback Control, Sliding mode control, PARTIAL DIFFERENTIAL EQUATION, Robustness, Robust stability, Sliding Mode, Invariance Principle, Electrical And Electronic Engineering, Sliding Mode Controller, Time varying, State Feedback, Time Varying Systems, Existence and uniqueness, and Nonholonomic System
Research Interests: Engineering, Mechanical Engineering, Robotics, Applied Mathematics, Computer Science, and 15 moreMotion control, Robust control, Controller Design, Control Systems, Kinematics, Feedback, Mechanical systems, Mechanical System, Linear Systems, Classical Mechanics, Dynamic Model of WSN, Electrical And Electronic Engineering, dynamic model, Nonholonomic System, and Force Control
Research Interests: Mechanical Engineering, Mathematics, Applied Mathematics, Computer Science, Adaptive Control, and 12 moreNumerical Simulation, ROBOT, Theoretical Analysis, Variable Structure Control, Lyapunov function, Optimal Control Problem, Electrical And Electronic Engineering, Inertia, Underactuation, Exponential Stability, Global asymptotic stability, and Variable structure
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Research Interests: Mechanical Engineering, Robotics, Computer Science, Biologically inspired computing, Trajectory, and 9 moreProsthetics, Manufacturing Engineering, Boundary Conditions, Legged Locomotion, Tuning, Force, Electrical And Electronic Engineering, Automatic Control and Systems Engineering, and Deadbeat control
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Research Interests: Engineering, Mathematics, Computer Science, Fuzzy Logic, Fuzzy Logic Control, and 15 moreModeling, Motion control, Robust control, Fuzzy Control, Control system, Error Analysis, Oscillations, Simulation Study, Fuzzy Controller, Phenomenon, Limit Cycles, Non Linear Control, Limit Cycle, Fuzzy Control System, and model error
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Research Interests: Engineering, Computer Science, Magnetic Materials, Adaptive Control, System Dynamics, and 14 moreRobust control, Stability, Inverse Problems, Differential Equations, Hysteresis, Robustness (evolution), Actuator, Feedforward, Magnetostriction, Prandtl Number, Inverse, Hysteresis Effect, Robust Adaptive Control, and Feed Forward
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ABSTRACT In this paper, a neural network (NN) based adaptive event-triggered control is developed for a single input and single output (SISO) uncertain nonlinear continuous time system. An explicit design of the event-triggered controller... more
ABSTRACT In this paper, a neural network (NN) based adaptive event-triggered control is developed for a single input and single output (SISO) uncertain nonlinear continuous time system. An explicit design of the event-triggered controller using NN approximation and feedback linearization is presented. The controller dynamics are approximated by using two single layer NNs. In addition, novel weight update laws are derived for the NNs in the context of event-triggered transmission, i.e., weights are updated only at the triggering instants, hence, aperiodic in nature. The closed loop stability analysis using Lyapunov approach for impulsive dynamical system is carried out to show the uniform ultimate boundedness (UUB) of the NN weight estimation errors as well as system states. Numerical results are included for validating the design.
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Magnetostrictive actuators invariably exhibit hysteresis nonlinearities that tend to become significant under high rates of inputs, and could cause oscillations and error in the micro-positioning tasks. This study presents a methodology... more
Magnetostrictive actuators invariably exhibit hysteresis nonlinearities that tend to become significant under high rates of inputs, and could cause oscillations and error in the micro-positioning tasks. This study presents a methodology for compensation of hysteresis nonlinearity in a magnetostrictive actuator subject to a wide range of input rates in an open-loop manner. The hysteresis compensation is attained through application of an inverse rate-dependent Prandtl–Ishlinskii model formulated on the basis of the rate-dependent Prandtl–Ishlinskii hysteresis model and laboratory-measured hysteresis properties of the magnetostrictive actuator under inputs at frequencies up to 200 Hz. The effectiveness of the inverse rate-dependent Prandtl–Ishlinskii model compensator for mitigating the major and minor loop hysteresis nonlinearities is demonstrated through simulation results and hardware-in-the-loop laboratory measurements of a magnetostrictive actuator (stroke ±50 μm) under inputs in the 1–200 Hz frequency range. Both the simulation and experimental results revealed reduction of peak hysteresis from 4.7 to 0.645 μm, when the proposed inverse rate-dependent model is applied as a feedforward hysteresis compensator, which occurred under excitations at the lowest frequency of 1 Hz. The results suggest that the inverse Prandtl–Ishlinskii model could provide hysteresis compensation under different rates of inputs in a simple and effective manner.
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In many manufacturing and automobile industries, flexible components need to be positioned with the help of coordinated operations of manipulators. This paper deals with the robust design of a control system for two planar rigid... more
In many manufacturing and automobile industries, flexible components need to be positioned with the help of coordinated operations of manipulators. This paper deals with the robust design of a control system for two planar rigid manipulators moving a flexible object in the prescribed trajectory while suppressing the vibration of the flexible object. Dynamic equations of the flexible object are derived using the Hamiltonian principle, which is expressed as a partial differential equation (PDE) with appropriate boundary conditions. Then, a combined dynamics is formulated by combining the manipulators and object dynamics without any approximation. The resulting dynamics are thus described by the PDEs, having rigid as well as flexible parameters coupled together. This paper attempts to develop a robust control scheme without approximating the PDE in order to avoid measurements of flexible coordinates and their time derivatives. For this purpose, the two subsystems, namely slow and fast ...
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Research Interests: Mathematics, Applied Mathematics, Computer Science, Fuzzy Logic, Adaptive Control, and 13 moreHysteresis, Backlash, Global stability, Tracking Control, Nonlinear Dynamic System, Function approximation, Nonlinear system, Lyapunov function, Dynamic Model of WSN, Electrical And Electronic Engineering, dynamic model, Adaptive fuzzy control, and Fuzzy Control System
Research Interests: Engineering, Applied Mathematics, Computer Science, Control Engineering, Motion control, and 14 moreRobust control, Comparative Study, Nonlinear Control, Nonlinear System Identification and Control, Magnetic Levitation, Mechanical systems, Position Control, Disturbance Observer, Nonlinear system, PI Controller, Electrical And Electronic Engineering, Multiple-Input Single-Output, Backstepping, and Proportional integral
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Research Interests: Engineering, Mechanical Engineering, Technology, Networks, EEG, and 11 moreMobile Robots, Manufacturing Engineering, Interface, Science Technology, Wheelchair, Control Management, Shared Control, Electrical And Electronic Engineering, Automation Control Systems, Engineering Manufacturing, and Brain Machine Interfaces
A structure decoupling control strategy of half-car suspension is proposed to fully decouple the system into independent front and rear quarter-car suspensions in this paper. The coupling mechanism of half-car suspension is firstly... more
A structure decoupling control strategy of half-car suspension is proposed to fully decouple the system into independent front and rear quarter-car suspensions in this paper. The coupling mechanism of half-car suspension is firstly revealed and formulated with coupled damping force (CDF) in a linear function. Moreover, a novel dual dampers-based controllable quarter-car suspension structure is proposed to realize the independent control of pitch and vertical motions of the half car, in which a newly added controllable damper is suggested to be installed between the lower control arm and connection rod in conventional quarter-car suspension structure. The suggested damper constantly regulates the half-car pitch motion posture in a smooth and steady operation condition meantime achieving the expected completely structure decoupled control of the half-car suspension, by compensating the evolved CDF.
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In this brief, the utilization of robust model-based predictive control is investigated for the problem of missile interception. Treating the target acceleration as a bounded disturbance, novel guidance law using model predictive control... more
In this brief, the utilization of robust model-based predictive control is investigated for the problem of missile interception. Treating the target acceleration as a bounded disturbance, novel guidance law using model predictive control is developed by incorporating missile inside constraints. The combined model predictive approach could be transformed as a constrained quadratic programming (QP) problem, which may be solved using a linear variational inequality-based primal-dual neural network over a finite receding horizon. Online solutions to multiple parametric QP problems are used so that constrained optimal control decisions can be made in real time. Simulation studies are conducted to illustrate the effectiveness and performance of the proposed guidance control law for missile interception.