Fast and accurate tracking control of robotic manipulators subject to state constraints and input saturation by effectively integrating planning strategies.

This paper presents a two-loop control framework for robotic manipulator systems subject to state constraints and input saturation, which effectively integrates planning and control strategies. Namely, a stability controller is designed in the inner loop to address uncertainties and nonlinearities; an optimization-based generator is constructed in the outer loop to ensure that state and input constraints are obeyed while concurrently minimizing the convergence time. Furthermore, to dramatically the computational burden, the optimization-based generator in the outer loop is switched to a direct model-based generator when the tracking errors are sufficiently small.

Fault detection observer design for 2-D continuous nonlinear systems with finite frequency specifications.

This research studies the problem of fault detection observer design for two-dimensional (2-D) continuous-time nonlinear systems in Takagi-Sugeno (T-S) form. Finite frequency (FF) specifications are used to design the observers, which makes observer designing different from previously proposed 2-D detection observers. Faults and disturbances are considered to be dominated in two different FF domain intervals.