A tutorial on robust control, adaptive control, robust adaptive control and adaptive control of robotic manipulators is presented in a systematic manner. Some limitations of the above methods are also illustrated. The relationships between the robust...
Model reference adaptive control (MRAC) schemes are known as an effective method to deal with system uncertainties. High adaptive gains are usually needed in order to achieve fast adaptation. However, this leads to high-frequency oscillation in the c...
To improve the anti-interference and robustness of the adaptive cruise control system in car-following mode, this paper designs a robust controller for the automobile adaptive cruise control system which contains two layers, the upper and lower struc...
This paper concentrates on both velocity and force control of a single-rod electro-hydraulic actuator in the presence of parameter uncertainties and uncertain nonlinearities. Both velocity control and force control are required in some cases. Impedan...
The need for industrial and commercial machinery to maintain high torque while accurately following a variable angular speed is increasing. To meet this demand, induction motors (IMs) are commonly used with variable speed drives (VSDs) that employ a...
This paper focuses on high performance adaptive robust position control of electro-hydraulic servo system. The main feature of the paper is the combination of adaptive robust algorithm with discrete disturbance estimation to cope with the parametric...
The paper introduces a robust adaptive fault-tolerant control system for the six-degree-of-freedom (six-DOF) dynamics of quadrotor unmanned aerial vehicles (UAVs), incorporating disturbances and abrupt actuator faults to represent real-world conditio...
In this research, a new nonlinear and adaptive state feedback controller with a fast-adaptive robust differentiator is presented for grid-tied inverters. All parameters and external disturbances are taken as uncertain in the design of the proposed co...
This study introduces a novel tracking control strategy tailored to aeroengines, which are highly nonlinear and characterized by significant uncertainty. The proposed method entails a robust extended Kalman filter (REKF) enhanced by a forgetting fact...
The introduction of a dynamic model in robot trajectory tracking control design can significantly improve its trajectory tracking accuracy, but there are many uncertainties in the robot dynamic model which can be dealt with through robust control and...
The control of nonlinear chaotic systems with uncertainties is a challenging problem that has attracted the attention of researchers in recent years. In this paper, we propose a robust adaptive fuzzy fractional control strategy for stabilizing nonlin...
Aiming at the trajectory tracking control problem caused by the coupling of strong nonlinearity, parameter uncertainty and unknown disturbances in rigid robotic arms, this paper proposes an adaptive robust model predictive control (APRMPC) scheme. Th...
This paper focuses on the robust adaptive control of a coaxial-ducted-fan aircraft under the context of significant system uncertainty. To ensure accurate tracking even in the presence of model uncertainties and disturbances for a ducted-fan flight p...
A real-time hybrid simulation (RTHS) is a promising technique to investigate a complicated or large-scale structure by dividing it into numerical and physical substructures and conducting cyber-physical tests on it. The control system design of an RT...
This paper presents the modeling of a new ray-type hybrid underwater glider (RHUG) and an experimental approach used to robustly and adaptively control heading motion. The motions of the proposed RHUG are divided into vertical-plane motions and headi...
With the rapid growth of the civil aviation industry, the aircraft towing and taxiing (ATT) system has gained significant attention in the literature. Due to its nonlinear and underactuated characteristics, the path tracking and control of the ATT sy...
This paper takes the position control performance of pump-controlled hydraulic presses as the research object. The control methods are designed respectively for the two motion stages of rapid descent and slow descent of hydraulic presses in order to...
This article proposes an adaptive controller for a quadrotor UAV for carrying unknown payloads while tracking any trajectory. The proposed adaptive controller is robust to modeling uncertainties and does not require any a priori knowledge of the boun...
To address the challenges of low control accuracy and poor robustness for pipe robots operating in complex environments with compound uncertainties, including parameter variations, nonlinear friction, and external disturbances, this paper proposes an...
In this paper, an adaptive robust neural network controller (ARNNC) is synthesized for a single-rod pneumatic actuator to achieve high tracking accuracy without knowing the bounds of the parameters and disturbances. The ARNNC control framework integr...
Practical robotic systems require control methods that remain reliable under limited computational resources, uncertain environments, and frequent changes in operating conditions. Although model-based control forms the foundation of high-performance...
The advanced quality control of the raw mix remains a priority for the cement industry, particularly in recent years, where large quantities of alternative fuels and raw materials are used in clinker production, aiming to reduce the CO2 footprint. Th...
Airline electromechanical actuators (EMAs), on the task of controlling flight surfaces, hold a great promise with the development of more- and all-electric aircraft. Notwithstanding, the deficiencies in both robustness and adaptability of control alg...
Recently, formation flying of multiple unmanned aerial vehicles (UAVs) found numerous applications in various areas such as surveillance, industrial automation and disaster management. The accuracy and reliability for performing group tasks by multip...
Accurate trajectory tracking is crucial for fixed-wing unmanned aerial vehicles (UAVs) in executing diverse missions. However, the inherent strong nonlinearities, parametric uncertainties, and external disturbances in the UAV model present significan...
In this paper, the problem of formation control with regard to leader–follower mobile robots in the presence of disturbances and model uncertainties, without needing to know the velocity of the leader robot, is presented. For this purpose, at f...
Ride comfort is a critical issue in vehicle dynamics, as excessive vibrations adversely affect passenger comfort and human health. This paper presents a comparative performance analysis of a passive suspension system, fuzzy logic control (FLC), and a...
Modelling errors and robust stabilization/tracking problems under parameter and model uncertainties complicate the control of the flexible underactuated systems. Chattering-free sliding-mode-based input-output control law realizes robustness against...
An adaptive proportional integral robust (PIR) control method based on deep deterministic policy gradient (DDPGPIR) is proposed for n-link robotic manipulator systems with model uncertainty and time-varying external disturbances. In this paper, the u...
Nowadays, sensorless control of permanent magnet synchronous linear motors (PMLSM) is widely utilized in industrial applications due to its inherent cost and spatial advantages. However, existing sensorless control methods for PMLMs face insufficient...
This paper proposes an Adaptive Robust Control (ARC) strategy for pump-controlled pitch systems in large wind turbines to address challenges in control accuracy and energy efficiency. First, a mathematical model integrating pitch angle dynamics and h...
In this study, based on the policy iteration (PI) in reinforcement learning (RL), an optimal adaptive control approach is established to solve robust control problems of nonlinear systems with internal and input uncertainties. First, the robust contr...
An adaptive deep neural network is used in an inverse system identification setting to approximate the inverse of a nonlinear plant with the aim of constituting the plant controller by copying to the latter the weights and architecture of the converg...
Maintaining precise interaction force in uncertain environments characterized by unknown and varying stiffness or location is significantly challenging for robotic manipulators. Existing approaches widely employ a two-level control structure in which...
High-precision spiral trajectory tracking for aquaculture net-cage inspection is hindered by uncertain hydrodynamics, strong coupling, and time-varying disturbances acting on an underactuated autonomous underwater vehicle. This paper adapts and valid...
Backstepping method is a successful approach to deal with the systems in strict-feedback form. However, for networked control systems, the discontinuous virtual law caused by state quantization introduces huge challenges for its applicability. In thi...
Flexure-based micro-motion mechanisms activated by piezoelectric actuators have a wide range of applications in modern precision industry, due to their inherent merits. However, system performance is negatively affected by model uncertainty, disturba...
This paper proposes a novel motion-tracking control methodology for an underwater cable-driven parallel mechanism (CDPM) that achieves calculation of dynamic tension constraint values, tension planning, parameter linearization, and motion tracking. T...
Conventional adaptive beamformers usually suffer from serious performance degradation when the receive array is imperfect and unknown sporadic interferences appear. To enhance robustness against array imperfections and simultaneously suppress sporadi...
The two-axis coupled electromechanical actuation system (TCEAS) is widely utilized in multiple industrial fields, but its tracking performance and stability are severely hampered by complex nonlinear friction, parameter uncertainties, and strong coup...
An optimal control design for the uncertain Delta robot is proposed in the paper. The uncertain factors of the Delta robot include the unknown dynamic parameters, the residual vibration disturbances and the nonlinear joints friction, which are (possi...
In this study, a novel robust observer-based adaptive controller was formulated for systems represented by second-order input–output dynamics with unknown second state, and it was applied to concentration tracking in a chemical reactor. By using dead...
Contact force control for Unmanned Aerial Manipulators (UAMs) is a challenging issue today. This paper designs a new method to stabilize the UAM system during the formation of contact force with the target. Firstly, the dynamic model of the contact p...
The rapid and accurate control of air chamber pressure in slurry pressure balance (SPB) shield tunneling machines is crucial for establishing the balance between slurry pressure and soil and water pressure, ensuring the stability of the support face....
This paper proposes a robust design approach based on the Design for Six Sigma (DFSS), to promote the robustness of our previous model-free-adaptive-control-based (MFAC-based) energy management strategy (EMS) for the plug-in hybrid electric vehicles...
In this paper, an adaptive robust drive control system for an axial flux permanent magnet synchronous motor of an electric medium-sized bus based on the optimal torque distribution method is studied. The drive control system is mainly divided into tw...
Micro functionally graded material (FGM) structures are able to have proper functions in vast environments. In this paper, nonlinear governing equations of the size-dependent micro-switch are derived using modified couple stress theory. Effective ext...
The structure of the cable-driven serial manipulator (CDSM) is more complex than that of the cable-driven parallel manipulator (CDPM), resulting in higher model complexity and stronger structural and parametric uncertainties. These drawbacks challeng...
It is well-known that performance of the classical algorithms for active noise control (ANC) systems severely degrades when implemented for controlling the impulsive sources. The objective of this paper is to propose a new recursive least squares (RL...
This article investigates the model-based control in configurations space of a soft continuum manipulator for minimally invasive surgery. The main control challenges for these types of systems are the presence of model uncertainties and nonlinearitie...
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