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Robotic arms or industrial robots are a machinery that is widely used in the medical and military industries because it is a flexible, highly accurate and reliable. It is very necessary to work in complex tasks requiring more accuracy than humans can work. This paper presents an estimate of the standard uncertainty of 6 DOF…

This paper proposes an active disturbance rejection control (ADRC) design for a haptic display platform structure. The motivation for the following scheme originates from the shortcomings faced by classical proportional integral derivative (PID) controllers in control theory. The ADRC is an unconventional model-independent approach, acknowledged as an effective controller in the existence of total plant…

In this study, an adaptive nonlinear sensorless controller for doubly fed induction generator (DFIG) driven by a wind turbine is proposed. The aim is to maximize the extracted power by tracking the wind turbine optimal torque-speed characteristic without the need for rotor speed measurement. This controller ensures a satisfactory tracking of both stator flux and…

The adoption of technical decisions in the development of a new aircraft is carried out under the condition of insufficient information on the mass – dimensional and aerodynamic characteristics that will be achieved during the project. Insufficient information on the input parameters (weight and aerodynamic characteristics) leads to uncertainties in the values of the flying…

The research will explore the challenges of using local water sources inside the city for a self-sufficient urban water supply by developed a system dynamics model. This study aims to evaluate and understand the Pesanggrahan River appropriateness as a raw drinking water source through a conceptual model that can accurately represent the interactions between the…

In this paper, the problems of actuator and sensor fault estimation (FE) and fault-tolerant control (FTC) for uncertain nonlinear systems represented by Takagi-Sugeno (T-S) fuzzy models are investigated. First, a robust fuzzy adaptive sliding mode observer (SMO) is designed to simultaneously estimate system states and both actuator and sensor faults. Then, using the obtained on-line…

This paper explores the problem of robust synchronization of complex dynamical network with stochastic coupling and time-varying delays through the application of nonfragile control. A well defined Lyapunov Krasovskii functional is established and by employing the widely acknowledged extended Jensen’s integral inequality and the Bernoulli’s distribution sequences, the stochastic nature of network coupling is modeled…

This paper presents a novel parametric co-variance assignment strategy for multi-variable stochastic uncertain systems. Based upon the explicit parametric design and reduced-order closed-form co-variance model, the variances and co-variances of the system outputs can be assigned artificially using output feedback while the effect of the system uncertainties can be minimized by optimizing the free parameters.…

This paper presents a novel direct torque control (DTC) strategy aimed to four-switch three-phase (FSTP) inverter-fed an interior permanent magnet synchronous machine (IPMSM), using a fuzzy logic toolbox in speed control loop. In fact, the introduced DTC approach is based on the emulation of the operation of the standard six-switch three-phase (SSTP) inverter. This fact…

The uncertain nonlinear systems can be modeled with fuzzy differential equations (FDEs) and the solutions of these equations are applied to analyze many engineering problems. However, it is very difficult to obtain solutions of FDEs. In this paper, the solutions of FDEs are approximated by utilizing the fuzzy Sumudu transform (FST) method. Here, the uncertainties…

The objective of this paper is to investigate the use of the 1-D wavelet analysis to extract several patterns from signals data sets collected from healthy and faulty input-output signals of control systems as a preliminary step in real-time implementation of fault detection diagnosis and isolation strategies. The 1-D wavelet analysis proved that is an…

This paper presents the development and design of a methodology based on fuzzy logic to control an indoor mobile robot for a complete navigation in an unknown environment. The methodology incorporates two basic behaviors, namely: reaching the goal and avoiding obstacles. The obstacle avoidance behavior is treated using wall-following scheme based on an Interval Type-2…