Adaptive robust tracking control algorithm and on-line learning for the glucoregulatory system

2002 ◽  
Author(s):  
S.M. El-Shal
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
On Line ◽  
On Line Learning

scholarly journals Robust Tracking Control of Robot Manipulators Using Only Joint Position Measurements

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Ancai Zhang ◽  
Jinhua She ◽  
Xuzhi Lai ◽  
Min Wu ◽  
Jianlong Qiu ◽  
...  
Keyword(s):  
Tracking Control ◽  
Feedback Linearization ◽  
Control Algorithm ◽  
Control Method ◽  
Robot Manipulator ◽  
Joint Position ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Nominal Model ◽  
Simulation Results

This paper concerns the tracking control of a robot manipulator with unknown uncertainties and disturbances. It presents a new control method that uses only joint position measurements to design a tracking controller. The controller has two parts. One is based on a feedback linearization technique; it makes the nominal model of a manipulator asymptotically track a desired trajectory. The other is based on the idea of equivalent input disturbance (EID); it compensates for uncertainties and disturbances. Together they enable a robot manipulator to precisely track the desired trajectory. The new control algorithm is applied to a two-link robot manipulator, and simulation results demonstrate the validity of this method.

Robust tracking control of bearing-constrained leader–follower formation

Automatica ◽  
2021 ◽  
Vol 131 ◽  
pp. 109733
Author(s):  
Minh Hoang Trinh ◽  
Quoc Van Tran ◽  
Dung Van Vu ◽  
Phuoc Doan Nguyen ◽  
Hyo-Sung Ahn
Keyword(s):  
Tracking Control ◽  
Robust Tracking ◽  
Robust Tracking Control

Model-Based Robust Tracking Control Without Observers for Soft Bending Actuators

2021 ◽  
Vol 6 (3) ◽  
pp. 5175-5182
Author(s):  
Guizhou Cao ◽  
Benyan Huo ◽  
Lei Yang ◽  
Fangfang Zhang ◽  
Yanhong Liu ◽  
...  
Keyword(s):  
Tracking Control ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Model Based
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