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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)
This paper addresses state estimation where domain knowledge is represented by non-linear inequality constraints. To cope with non-Gaussian state distribution caused by the utilisation of domain knowledge, a truncated unscented particle filter method is proposed in this paper. Different from other particle filtering schemes, a truncated unscented Kalman(More)
The present study was undertaken to evaluate whether estrogen deprivation might lead to mitochondrial alteration of hippocampal neurons of ovariectomized (OVX) rats, and to evaluate the protective effect of estrogen and phytoestrogen on the mitochondrial alteration. First, OVX rats were used to mimic the pathologic changes of neurodegeneration of(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)