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RISRobust Computed Torque Schemes for Mechanical Manipulators: Nonadaptive Versus Adaptive
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We consider the tracking control problem of mechanical manipulators in the presence of uncertainty. Two classes of control algorithms are proposed. If the possible bound of the uncertainty is ...
Decentralized Adaptive Robust Control Design: The Uncertainty is Time Varying
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We consider a class of nonlinear uncertain interconnected systems with time-varying uncertainty. The uncertainty may arise within each system as well as in the interconnections. The uncertainty ...
A New Matching Condition for Nonlinear Robust Control Design
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We study the control design problem for uncertain nonlinear systems. A new matching condition is presented. The main idea is to explore the route through which the (worst case) uncertainty may ...
Adaptive Robust Model-Following Control and Application to Robot Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The model-following control problem for nonlinear uncertain dynamical systems is considered. Based only on the knowledge of functional properties relating to the bound of the time-varying uncertainty, ...
On the Robustness of Mismatched Uncertain Dynamical Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We consider the robustness problem of uncertain dynamical systems which do not satisfy the so-called matching conditions. We employ the controls which assure practical stability of the associated ...
Decentralized Robust Control for Large-Scale Uncertain Systems: A Design Based on the Bound of Uncertainty
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A class of large-scale linear uncertain systems is under consideration. The uncertainty is time-varying. No a priori deterministic or stochastic information is assumed except its possible bound. ...
Large-Scale Uncertain Systems Under Insufficient Decentralized Controllers
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We consider a class of large-scale uncertain dynamical systems under decentralized controllers. The system is composed of N interconnected subsystems which possess uncertainty. Moreover, there are ...
Surface Effect and Size Dependence on the Energy Release Due to a Nanosized Hole Expansion in Plane Elastic Materials
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper deals with the surface effect and size dependence on the M-integral representing the energy release due to a nanodefect expansion in plane elasticity. Due to the high surface-to-volume ...
Solution for a Semi-Permeable Interface Crack Between Two Dissimilar Piezoelectric Material
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A semi-permeable interface crack in dissimilar piezoelectric materials is studied in detail. Attention is focused on the influence induced from the permittivity of the medium inside the crack ...
Structural Decomposition Approach for the Stability of Uncertain Dynamic Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The stability property for a class of dynamic systems with uncertain parameter variation is studied. The uncertainty can be fast time-varying and unpredictable. A new approach for stability study ...