Titlebook: New Trends in Robot Control; Jawhar Ghommam,Nabil Derbel,Quanmin Zhu Book 2020 Springer Nature Singapore Pte Ltd. 2020 Robotic system.Robo

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Flexible-Link Manipulators: Dynamic Analysis and Advanced Control Strategiesy in demand in many fields such as industrial domain, medical intervention, and space exploitation. Taking into consideration the flexibility effect, Hamilton’s principle and Euler–Lagrange equations are associated to determine a highly nonlinear and coupled dynamic model. Therefore, the main contro

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Stabilization of Second Order Underactuated System Using Fast Terminal Synergetic Controlstems in different disciplines. The main purpose of studying these systems is to control certain variables in parallel, knowing that underactuated systems admit more degrees of freedom than the actuators. The lack of actuator complicates the task of controlling such systems. In this chapter, our obj

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Adaptive Control of a Lower Limb Exoskeleton Dedicated to Kids’ Rehabilitation implemented at the hip and the knee joints. In fact, tracking the gait scheme with an intense and a precise work may allow children to increase their brain plasticity. Through the proposed study, it is shown that the augmented . adaptive controller is robust regards to parametric variations. Beside

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Exoskeletons Control via Computed Torque for Lower Limb Rehabilitationntext, the lokomat appears to be the most suitable system for kids suffering from cerebral palsy. Hence, PID controllers based on feedback linearization and adaptive feedback linearization approaches have been proposed to control 2 DOF exoskeletons which are considered as the fundamental part of the

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Adaptive Event-Triggered Regulation Control of Nonholonomic Mobile Robots provided. Two layer neural-networks (NN) are utilized to represent the uncertain dynamics of the MR which is subsequently employed to generate the control torque with event-sampled measurement update. By relaxing the perfect velocity tracking assumption, control torque is developed to minimize the

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Finite Time Consensus for Higher Order Multi Agent Systems with Mismatched Uncertaintiese potentially affected by mismatched uncertainties. With the development of integral sliding mode (ISM), using finite time disturbance observer(FTDO), allows to neglect the effect of mismatched uncertainties during the sliding mode. Based on homogeneous continuous finite time protocol, the nominal c