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—A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing(More)
—A robust nonlinear predictive controller for permanent-magnet synchronous motors is proposed. The non-linear predictive control law is formulated by optimizing a novel cost function. A key feature of the proposed control is that it does not require the knowledge of the external perturbation and parameter uncertainties to enhance the robustness. A zero(More)
—A nonlinear predictive control (NPC) scheme in a cascaded structure for a permanent magnet synchronous motor drive is proposed. Taylor series expansion is used to predict the system response over a finite horizon. As NPC cannot remove completely the steady-state error in the presence of mismatched parameters and external perturbation, a disturbance(More)
In this paper, the adaptive fuzzy tracking control is proposed for a class of multi-input and multioutput (MIMO) nonlinear systems in the presence of system uncertainties, unknown non-symmetric input saturation and external disturbances. Fuzzy logic systems (FLS) are used to approximate the system uncertainty of MIMO nonlinear systems. Then, the compound(More)
A new nonlinear predictive control law for a class of multivariable nonlinear systems is presented in this paper. It is shown that the closed-loop dynamics under this nonlinear predictive controller explicitly depend on design parameters (prediction time and control order). The main features of this result are that an explicitly analytical form of the(More)