In this work, we are interested to the PID control of nonlinear systems and more specially the
control of a robot manipulator. The idea is to determine the optimal parameters (K_ p, K_ i K …

This paper studies a key issue of developing reconfigurable fault-tolerant control to retain a
nominal feedback controller and simultaneously handles actuator faults and system …

This paper addresses the global asymptotic regulation of robot manipulators under input
constraints, both with and without velocity measurements. It is proven that robot systems …

The output-feedback based controller design problem is investigated for the networked
teleoperation system in this paper. A new control scheme is proposed to guarantee the …

In this study, a new robust finite-time stability control approach for robot systems is
developed based on finite-time Lyapunov stability principle and proved with backstepping …

With the increasing complexity of robot tasks in the industrial field, sometimes the
manipulator needs to change the payload or replace end-effectors frequently in a period of …

The limited integrator antiwindup (LIAW) is a helpful method that can be applied to improve
performance in systems with constrained inputs. However, the use of this technique has …

In this work, two globally stabilizing bounded control schemes for the tracking control of
robot manipulators with saturating inputs are proposed. They may be seen as extensions of …

In this paper, we address the problem of adaptive bounded control for the trajectory tracking
of a Quadrotor Aerial Vehicle (QAV) while the input saturations and uncertain parameters …

An approximate optimal scheme is proposed for an uncertain n-link robot subject to
saturation non-linearity. A remarkable feature is that compared with the previous results, the …