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An observer-based adaptive fuzzy control for prescribing drug dosage in cancer treatment

Bandpey Razieh Firouzpour, Kalat Ali Akbarzadeh

Biocybernetics and Biomedical Engineering

2022

Vol. 42, no. 4

1137--1148

In this study, an observer-based adaptive fuzzy controller for prescribing drug dosage in cancer treatment is presented. In the controller design, it is supposed that only the tumor cells and the concentration of Interleukin-2 (IL-2) are measurable. After defining new state variables for the system, a state observer is employed to estimate the unmeasurable state when the unknown dynamic functions of the system are approximated by the fuzzy systems. The stability of the closed-loop system is demonstrated using the Lyapunov theory. Simulation results show the good performance of the observer-based controller taking into account the unknown system dynamics.

Adaptive control of redundant robotic manipulators with state constraints

Galicki M.

International Journal of Applied Mechanics and Engineering

2012

Vol. 17, no. 4

1123-1138

In this work, the problem of real-time controlling a kinematically redundant manipulator is considered, so that its end-effector follows the prescribed geometric path. Provided that, a solution to the control problem of redundant manipulator exists, the Lyapunov stability theory is used to derive the control scheme generating a corresponding trajectory whose equilibrium is asymptotically stable. The approach offered does not require any inverse of robot kinematic equations and the exact knowledge of robot dynamic equations. Instead, a generalized transpose Jacobian controller with adaptive component estimating the gravity term is introduced to generate robot controls. The numerical simulation results carried out for a planar redundant 3-dof (three degrees of freedom) manipulator whose end-effector follows a prescribed geometric path given in a two dimensional task space, illustrate the trajectory performance of the proposed control scheme.

Generating the controls for mobile manipulators subject to state constraints

Galicki M.

International Journal of Applied Mechanics and Engineering

2011

Vol. 16, no 4

989-1003

This paper addresses the problem of position regulation at the control feed back level of a mobile manipulator. The task is subject to state equality and/or inequality constraints. Based on the Lyapunov stability theory, a class of asymptotically stable controllers fulfilling the above constraints and generating a singularity and collision free mobile manipulator trajectory, is proposed. The problem of singularity and collision avoidance enforcement is solved here based on an exterior penalty function approach which results in continuous and bounded mobile manipulator controls even near boundaries of obstacles. The numerical simulation results carried out for a mobile manipulator consisting of a nonholonomic unicycle and a holonomic manipulator of two revolute kinematic pairs, operating both in a two-dimensional unconstrained task space and task space including the obstacles, illustrate the performance of the proposed controllers.