Model following control based on an adaptive sliding surface for a class of plants with unmatched parametric uncertainties

2002 ◽  
Author(s):  
K. Nonaka ◽  
M. Yamakita ◽  
K. Furuta
Keyword(s):  
Parametric Uncertainties ◽  
Sliding Surface ◽  
Model Following Control ◽  
Model Following

scholarly journals Realization of DC-DC Buck Converter Based on Hybrid H2 Model Following Control

2021 ◽  
pp. 1-1
Author(s):  
J. S. Fang ◽  
Sheng-Hong Tsai ◽  
Jun-Juh Yan ◽  
P. L. Chen ◽  
Shu-Mei Guo
Keyword(s):  
Buck Converter ◽  
Model Following Control ◽  
Model Following

Multi-loop model-based control structure for robot manipulators

Robotica ◽  
2005 ◽  
Vol 23 (4) ◽  
pp. 491-499 ◽  
Author(s):  
Rafael Osypiuk ◽  
Bernd Finkemeyer ◽  
Friedrich M. Wahl
Keyword(s):  
Control Structure ◽  
Robot Manipulator ◽  
Loop Model ◽  
Loop Control ◽  
Model Based Control ◽  
Model Following Control ◽  
Model Following ◽  
Theoretical Assumptions ◽  
Quantitative Results ◽  
The Stability

Most nonlinear control concepts used in robotics are based on a more or less accurate inverse model of the robot. In contrast to this, the design and properties of a general $n$-loop control structure based on a divided forward model of the robot, the so-called multi-loop Model Following Control Structure ($n$-MFC), is presented in this paper. Its theoretical basics and its concept are explained. The stability and robustness of the proposed control structure is analyzed. The theoretical assumptions are verified in many experiments with a two-joint robot manipulator. Qualitative as well as quantitative results of the experiments are presented and discussed.

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