Recently, regressor-free control approach has been presented in which uncertainties are
estimated using function approximation techniques (FAT) such as the Fourier series …

In this paper, fractional-order observer/controller design for flexible-joint robots is developed.
In order to eliminate the need for obtaining the regressor matrix, the Fourier series …

In this paper, a second-order sliding mode (SOSM) disturbance observer will be designed
and implemented for a single link manipulator using Ds1104. The target system model is …

A methodology to assess the quality of estimation of disturbances in mechanical systems, by
state observers, in the control structure with active compensation of disturbances (ADRC) is …

For mechanical systems using displacement measurements only, this study presents a
dynamic compensator‐based second‐order sliding mode control algorithm without using …

The leading workhorse of anomaly (and attack) detection in the literature has been residual-
based detectors, where the residual is the discrepancy between the observed output …

In many robotic applications, pneumatic actuators are not adequate for tracking control tasks
given the poor performance obtained with traditional control techniques like PID controllers …

A passivity‐based sliding mode control for a class of second‐order nonlinear systems with
matched disturbances is proposed in this paper. Firstly, a nonlinear sliding surface is …

An analog implementation of a control structure with disturbance identification for
mechanical systems is presented. This control structure is based on a discontinuous …

In this paper the chaotic behavior of second-order, discontinuous systems with a pseudo-
equilibrium point on a discontinuity surface is analyzed. The discontinuous system is …