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Smart actuators, such as shape memory alloy (SMA) and magnetostrictive actuators, exhibit saturation nonlinearity and hysteresis that may be symmetric or asymmetric. The Prandtl–Ishlinskii model employing classical play operators has been used to describe the hysteresis properties of smart actuators that are symmetric in nature. In this study, the(More)
DRAM technology faces density and power challenges to increase capacity because of limitations of physical cell design. To overcome these limitations, system designers are exploring alternative solutions that combine DRAM and emerging NVRAM technologies. Previous work on heterogeneous memories focuses, mainly, on two system designs: PCache, a hierarchical,(More)
Abstruct-An adaptive tracking control architecture is proposed for a class of continuous-time nonlinear dynamic systems, for which an explicit linear parameterization of the uncertainty in the dynamics is either unknown or impossible. The architecture employs fuzzy systems, which are expressed as a series expansion of basis functions, to adaptively(More)
In this paper, a novel robust nonlinear motion controller with disturbance observer (DOB) for positioning control of a nonlinear single-input-single-output (SISO) mechanical system is proposed. The controller is designed in a backstepping manner. At the first step, a PI controller is designed to stabilize the position error. Then at the second step, a novel(More)
Abstruct-In this paper a hybrid adaptivdrobust control scheme is proposed for rigid-link electrically-driven robot manipulators in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. In contrast to the known methods, the presented design requires at most the joint velocity feedback and(More)
SUMMARY By using the integrator backstepping technique, the control of rigid link, electrically driven robot manipula-tors is addressed in the presence of arbitrary uncertain manipulator inertia parameters and actuator parameters. The control scheme developed is computationally simple owing to the avoidance of the derivative computation of the regressor(More)