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Open access Sep 2026

Robust Control and Estimation Framework for Parallel Manipulators: A Comparative Study of Super-Twisting and Fractional-Order PID Strategies

This research investigates the problem of robust control of a nonlinear, fast-dynamics, high-precision planar manipulator with a limited workspace. Starting from a mathematical model formulated in terms of Euler-Lagrange dynamics, the proposed approach considers, given the limitations of the physical system, that some...

Florin Stîngă, M. Marian · 0 citations
Open access Sep 2026

Experimental Modeling and Control of a DC Servo Motor Based on System Identification: A Comparative PID with Policy Iteration

Direct current (DC) servo motors are essential in industrial automation and robotics, where precise position and speed control are critical; however, they require high-performance control strategies. This study investigates an experimental framework for the modeling and control of a DC servo motor using system identifi...

Hassan Khalid Misbah, N. Alyazidi · 0 citations
Aug 2026

Spheres in motion: Adaptive dynamic programming for robotic intelligence

The potential of the proposed Adaptive Dynamic Programming (ADP) framework for improving trajectory-tracking performance in spherical robots under uncertain operating conditions is demonstrated.

Hadi Sazgar, Ali Keymasi‐Khalaji, Aliakbar Ghasemzadeh · 0 citations
Open access Sep 2026

Performance assessment of fractional order PID control for a 2DOF flexible joint robotic manipulator under various operating conditions

Flexible joint robot manipulators (FJM) exhibit high nonlinear dynamics and coupling effects, which make their control a challenging task. This paper proposes a fractional order PID (FOPID) cascade control strategy for a 2DOF FJM. The controller performance is compared with that of a sliding mode controller (SMC) under...

Ahmed M. Alkamachi, A. Mary · 0 citations
Sep 2026

Modeling and analysis of a cable-driven manipulator based on computed torque control

Cable-driven manipulators have garnered increasing attention in robotics owing to their lightweight structure, flexible transmission mechanisms, and large operational workspace. However, the strong nonlinear dynamics, parameter coupling, and external disturbances inherent in cable-driven systems pose significant challe...

Jian-Hao Chai, Wei-Cai Quan, Xuan-Ming Tang et al. · 0 citations
Conference Aug 2026

Stabilised Koopman Kinematic Modelling and Tracking Control of a Manipulator

This paper presents a Koopman-based data-driven kinematic modelling and tracking control framework for a 7-DOF manipulator. State and squared-state lifting functions map the nonlinear forward kinematics into a linear lifted space, where system matrices are identified via ordinary least squares and stabilised by scaling...

Ye Xing, Shuai-Shi Liu, Chang-Lin Yu et al. · 0 citations

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