Abstract: A desired compensation adaptive robust control (DCARC) framework is presented for nonlinear systems having both parametric uncertainties and uncertain nonlinearities. The paper first considers a ...

Abstract: High performance robust motion and force tracking control of robot manipulators in contact with compliant surfaces is considered in this paper. The robot parameters and the stiffness of the ...

Abstract: In this paper, a discontinuous projection based output feedback adaptive robust control (ARC) scheme is constructed for a class of linear systems subjected to both parametric uncertainties and ...

Abstract: A systematic way to combine adaptive control and sliding mode control (SMC) for trajectory tracking of robot manipulators in the presence of parametric uncertainties and uncertain nonlinearities ...

Abstract: Adaptive motion and force control of manipulators in constrained motion in the presence of parametric uncertainties both in the robot and contact surfaces are considered in this paper. A new ...

Abstract: Unlike input deadband, the sandwiched deadband between actuator and plant dynamics is very difficult to be explicitly compensated for due to the proceeding actuator dynamics whose effect may not ...

Abstract: In this paper, neural networks (NNs) and adaptive robust control design method are integrated to design a performance oriented control law with only output feedback for a class of single-inpu ...