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Related Concept Videos

Control Systems01:10

Control Systems

Control systems are everywhere in contemporary society, influencing diverse applications from aerospace to automated manufacturing. These systems can be found naturally within biological processes, such as blood sugar regulation and heart rate adjustment in response to stress, as well as in man-made systems like elevators and automated vehicles. A control system is essentially a network of subsystems and processes that collaboratively convert specific inputs into desired outputs.
At the heart...
Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...

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Related Experiment Video

Updated: May 14, 2026

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

Human-in-the-Loop Finite-Time Fault-Tolerant Practical Tracking of Networked Robot Manipulators Subject to External

Chenglin Han, Weihao Li, Mengji Shi

    IEEE Transactions on Cybernetics
    |May 12, 2026
    PubMed
    Summary

    This study introduces a novel control strategy for networked robot manipulators, ensuring timely and safe cooperative tasks despite disturbances and faults. The approach guarantees finite-time practical consensus tracking for improved robotic system performance.

    Related Experiment Videos

    Last Updated: May 14, 2026

    Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
    10:32

    Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

    Published on: August 15, 2016

    Area of Science:

    • Robotics
    • Control Systems Engineering
    • Artificial Intelligence

    Background:

    • Industrial and cooperative robotics demand high timeliness, safety, and robustness for effective task completion.
    • External disturbances, actuator faults, and unknown signals degrade critical robotic performance metrics.
    • Cooperative tasks involving networked robot manipulators are susceptible to performance degradation.

    Purpose of the Study:

    • To investigate the finite-time practical consensus tracking problem for networked robot manipulators.
    • To address challenges posed by external disturbances, actuator faults, and unknown human-in-the-loop control inputs.
    • To develop an adaptive fault-tolerant control scheme ensuring robust performance.

    Main Methods:

    • Design of an extended state observer (ESO) to estimate system states and unknown human control input.
    • Development of an adaptive fault-tolerant control scheme utilizing observer estimates.
    • Finite-time stability analysis using Lyapunov-based methods.

    Main Results:

    • The proposed control scheme guarantees practical consensus tracking for all manipulators.
    • Tracking errors converge to prescribed residual sets within finite time.
    • Both estimation and tracking errors demonstrate finite-time convergence.

    Conclusions:

    • The developed adaptive fault-tolerant control strategy effectively addresses disturbances and faults in networked robot manipulators.
    • The human-in-the-loop finite-time practical consensus tracking is achieved with guaranteed stability.
    • Simulation results validate the proposed control strategy's effectiveness and robustness.