This work is concerned with the position control of robotic systems by means of an affine PD-
based control law. The general nonlinear differential equation of the dynamics with a non …

In this work, considering some important indices such as speed of the system response,
control effort with minimum error and vibrations of the flexible joint manipulator system …

Inverse optimal control (IOC) is a problem of estimating a cost function based on the
behaviors of an expert that behaves optimally with respect to the cost function. Although the …

This paper aims to design an optimal stability controller for a point to point trajectory tracking
3 degree of freedom (DoF) articulated manipulator. The Denavit Hartenberg (DH) …

Solving inverse kinematics problems presents more significant difficulties than solving
forward kinematics problems, often involving greater complexity. Conventional techniques …

The control of robotic systems and more particularly exoskeletons for human lower-and
upper-limb rehabilitation has received a great attention as a promising healthcare solution to …

This work performs to control position tracking, vibration analysis and to increase stability of
the rotary flexible arm manipulator by using two control techniques. State Feedback control …

In this work, an Adaptive Linear Quadratic Regulator (LQR) is proposed for the tracking
control of a 3 DOF articulated robotic manipulator. The main objective of this work is to drive …

Robust trajectory tracking control of the 2-link robotic manipulator is analyzed by
implementing two different filters in conjunction with UDE controller. The proposed controller …