Control
Adaptive Robust Tracking Control Based on Backstepping Method for Uncertain Robotic Manipulators Including Motor Dynamics

javad keighobadi; Mohammad mehdi Fateh

Volume 4, Issue 1 , January 2021, , Pages 13-22

http://dx.doi.org/10.22111/ieco.2020.31792.1213

Abstract
  Recent research on the backstepping control of robotic systems has motivated us to design a robust backstepping voltage-based controller with computational simplicity and ease of implementation. In this paper, an adaptive robust tracking controller based on backstepping method (ARTB) is presented for ...  Read More

Control
Model-Free Tracking Control via Adaptive Dynamic Sliding Mode Control With Application to Robotic Systems

Mohammad Reza Shokoohinia; Mohammad Mehdi Fateh

Volume 3, Issue 4 , September 2020, , Pages 431-438

http://dx.doi.org/10.22111/ieco.2020.31596.1207

Abstract
  In this paper, a novel model-free control scheme is developed to enhance the tracking performance of robotic systems based on an adaptive dynamic sliding mode control and voltage control strategy. In the voltage control strategy, actuator dynamics have not been excluded. In other words, instead of the ...  Read More

Control
Optimal Impedance Voltage-Controller for Electrically Driven Robots

Mohsen Jalaeian-F; Mohammad Mehdi Fateh; Morteza Rahimiyan

Volume 3, Issue 4 , September 2020, , Pages 483-490

http://dx.doi.org/10.22111/ieco.2020.33183.1247

Abstract
  This paper presents a novel optimal impedance voltage-controller for Electrically Driven Lower Limb Rehabilitation Robots (EDLR). To overcome the dynamical complexities, and handle the uncertainties, the proposed method employs an expected forward model of the actuator. The difference between this model’s ...  Read More