In this paper, a new robust integral of signum error (RISE) feedback type controller is designed for class uncertain nonlinear systems. Unlike the previous versions RISE controllers, proposed does not require prior knowledge upper bounds vector containing uncertainties dynamical system plus desired dynamics (and their derivatives) control gain selection. The aforementioned enhancement made possible via design time-varying compensation as opposed to constant used in controllers. Asymptotic...

In this study, a robust adaptive controller is designed to be used in an active tuned mass damper system that can damp undesired vibrations occurred on the multistory buildings during earthquake. To realize design, all of parameters are assumed unknown, and structure obtained by designing compensation rules for parameters. A backstepping control design approach utilized considering appropriateness system’s having at top structure. The proposed supported with Lyapunov-based stability analysis...

In recent years, controller formulations using robust integral of sign error (RISE) type feedback have been successfully applied to a variety nonlinear dynamical systems. The drawback these controllers however, are (i) the need prior knowledge upper bounds system uncertainties and (ii) absence proper gain tuning methodology. To tackle aforementioned weaknesses, in our previous work [1] we presented RISE formulation with time-varying compensation cope for bound uncertain system. this study,...

In this study, a nonlinear adaptive controller that can be used to control magnetic levitation (maglev) is designed. The designed equipped with velocity observer provide the without measuring velocity. Its capability adaptively compensate all parametric uncertainties during process one of main advantages controller. Utilizing capability, maglev system realized using any knowledge about parameters. Due fast convergence and desired model dependent structure adaptation rules, proposed design...

In this work, we propose the design and analysis of a novel continuous robust controller for class multi--input multi--output (MIMO) nonlinear uncertain systems. The systems under consideration contains unstructured uncertainties in their drift input matrices. proposed compensates overall system achieves asymptotic tracking where only sign leading minors gain matrix is assumed to be known. A Lyapunov based argument backed up with an integral inequality applied prove stability convergence...

Abstract Background The method of stem cell transfer to narrow cochlear canals in vivo generate hair cells is still an unclear operation. Thus, the development any possible that will ensure usage medical microrobots small workspaces a challenging procedure. Methods current study tries introduce macro‐micro manipulator system composed 6‐DoF industrial serial as macro and proposed 5‐DoF parallel with dual end effectors micro carrying permanent magnets for tetherless microrobot actuation inside...

This work concentrates on tracking control of dynamically positioned surface vessels with asymmetric added mass terms affecting the system model at acceleration level. Specifically, we propose a novel continuous robust controller for that, in addition to its inertia matrix, contains unstructured uncertainties all matrices. The proposed compensates overall and ensures asymptotic tracking, while requiring only knowledge sign leading principle minors input gain matrix. Lyapunov based approaches...

This work concentrates on tracking control of dynamically positioned surface vessels where only position and orientation measurements are available. Specifically, in order to remove the velocity measurement dependency formulation, we designed a nonlinear, model-free observer which enables observer-controller couple achieve asymptotic tracking. Stability closed-loop system is ensured by Lyapunov-based arguments. Simulation studies also presented illustrate effectiveness proposed method.

Producing electrical energy from wind power is a growing sector owing to efficient renewable characteristics and positive environmental impacts of these type conversion systems. Recent researches have shown that the efficiency this production can be maximised via variable speed turbines (VSWTs). Controlling rotor VSWTs appropriately one most feasible ways reach purpose. In study, novel full-state-feedback robust adaptive controller designed This nonlinear control design based on backstepping...

Active tuned mass damper (ATMD) devices are recommended in various structures to reduce vibrations. The performance of the ATMD system is closely tied control design utilized, according research literature. designed input will take into account as much dynamics possible, making it possible use a generalized controller all similar systems. Nonlinear behavior natural engineering structures, and order obtain more realistic high-performance system, can be considered an appropriate approach by...

In this work, we present a novel continuous robust controller for class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed compensates the system dynamics achieves asymptotic tracking while requiring only knowledge sign leading principal minors gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove stability closed-loop system. Simulation results are presented...

In this study, an artificial neural network (ANN) model-based self-tuning PID control method is proposed for the of multi-input-multi-output (MIMO) nonlinear systems.A single layer, feed-forward ANN structure trained via input and output data randomly collected from system classified as learning, test, validation to obtain model.The obtained model utilized in adaptive scheme conjunction with two different optimization methods tuning control.Using scheme, parameters can be tuned their optimum...

In this paper, a robust controller is designed to achieve accurate positioning of an unactuated surface vessel by using multiple unidirectional tugboats. After initially locating opposing tugboats specific configurations, the control problem transformed into second order system with uncertain non-symmetric input gain matrix. Upon applying matrix decomposition, proposed. Detailed stability analysis ensured asymptotic tracking. Numerical simulation results demonstrate efficiency proposed controller.

In this work, we propose a new robust adaptive controller for class of multi-input multi-output nonlinear systems subject to uncertain state delay. The proposed method is proven yield semi-global asymptotic tracking despite the presence additive input and output disturbances parametric uncertainty in system dynamics. An desired compensation conjunction with continuous integral feedback component utilized design Lyapunov-based techniques, are used prove that error asymptotically driven zero....

Remotely operated vehicles equipped with a robotic manipulator are utilized in several underwater/deep sea applications. Control of these type systems mostly provided by obtaining the proper position for end effector which constitutes desired motion remotely vehicle. This situation makes control manipulators is really important subject underwater In this work, we study tracking one degree-of-freedom rigid link cross flow. Systems operating at (including one) hard to model accurately, and as...