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This study discusses the tracking trajectory issue of the exoskeleton under the bounded disturbance and designs an useful tracking trajectory control method to solve it. By using the proposed control method, the tracking error can be successfully convergence to the assigned boundary. Meanwhile, the chattering effect caused by the actuators is already reduced, and the tracking performance of the pneumatic artificial muscles (PAMs) elbow exoskeleton is improved effectively.

A prescribed performance sliding mode control method was developed in this study to fulfill the joint position tracking trajectory task on the elbow exoskeleton driven by two PAMs. In terms of the control structure, a dynamic model was built by conforming to the adaptive law to compensate for the time variety and uncertainty exhibited by the system. Subsequently, a super-twisting algorithm-based second-order sliding mode control method was subjected to the exoskeleton under the boundedness of external disturbance. Moreover, the prescribed performance control method exhibits a smooth prescribed function with an error transformation function to ensure the tracking error can be finally convergent to the pre-designed requirement.

From the theoretical perspective, the stability of the control method was verified through Lyapunov synthesis. On that basis, the tracking performance of the proposed control method was confirmed through the simulation and the manikin model experiment.

As revealed by the results of this study, the proposed control method sufficiently applies to the PAMs elbow exoskeleton for tracking trajectory, which means it has potential application in the actual robot-assisted passive rehabilitation tasks.

Quadrotors have been applied in various fields. However, because the quadrotor is subject to multiple disturbances, consisting of external disturbances, actuator faults and parameter uncertainties, it is difficult to control the unmanned aerial vehicle (UAV) to achieve high-precision tracking performance. This paper aims to design a safety controller that uses observer and neural network method to improve the tracking performance of UAV under multiple disturbances. The experiments prove that this method is effective.

First, to actively estimate and compensate the synthetic uncertainties of the system, a finite-time extended state observer is investigated, and the disturbances are transformed into the extended state of the system for estimation. Second, an adaptive neural network controller that does not accurately require the dynamic model knowledge is designed based on the estimated value, where the weights of the neural network can be dynamically adjusted by the adaptive law. Furthermore, the finite-time bounded convergence of the proposed observer and the stability of the system are proved through homogeneous theory and Lyapunov method.

The figure-“8” climbing flight simulation and real flight experiments illustrate that the proposed safety control strategy has good tracking performance.

This paper proposes the safety control structure of the UAV, which combines the extended state observer with the neural network method. Numerical simulation results and actual flight experiments demonstrate the effectiveness of the proposed control strategy.

The purpose of this paper aims to investigate the adaptive impedance control and its optimized PSO algorithm for force tracking of a dual-arm cooperative robot. Because the dual-arm robot is directly in contact with external environment, controlling the mutual force between robot and external environment is of great importance. Besides, a high compliance of the robot should be guaranteed.

An impedance control based on Particle Swarm Optimization (PSO) algorithm is designed to track the mutual force and achieve compliance control of the robot end.

The experimental results show that the impedance control coefficients can be automatically tuned converged by PSO algorithm.

The system can reach a steady state within 0.03 s with overshoot convergence, and the force fluctuation range at the steady state decreases to about ±0.08 N even under the force mutation condition.

This paper aims to propose a novel control scheme and offer a control parameter optimizer to achieve better automatic carrier landing. Carrier landing is a challenging work because of the severe sea conditions, high demand for accuracy and non-linearity and maneuvering coupling of the aircraft. Consequently, the automatic carrier landing system raises the need for a control scheme that combines high robustness, rapidity and accuracy. In addition, to exploit the capability of the proposed control scheme and alleviate the difficulty of manual parameter tuning, a control parameter optimizer is constructed.

A novel reference model is constructed by considering the desired state and the actual state as constrained generalized relative motion, which works as a virtual terminal spring-damper system. An improved particle swarm optimization algorithm with dynamic boundary adjustment and Pareto set analysis is introduced to optimize the control parameters.

The control parameter optimizer makes it efficient and effective to obtain well-tuned control parameters. Furthermore, the proposed control scheme with the optimized parameters can achieve safe carrier landings under various severe sea conditions.

The proposed control scheme shows stronger robustness, accuracy and rapidity than sliding-mode control and Proportion-integration-differentiation (PID). Also, the small number and efficiency of control parameters make this paper realize the first simultaneous optimization of all control parameters in the field of flight control.

Preparing CrAlN coatings on the surface of silicon nitride bearings can improve their service life in oil-free lubrication. This paper aims to match the optimal process parameters for preparing CrAlN coatings on silicon nitride surfaces, and reveal the microscopic mechanism of process parameter influence on coating wear resistance.

This study used molecular dynamics to analyze how process parameters affected the nucleation density, micromorphology, densification and internal stress of CrAlN coatings. An orthogonal test method was used to examine how deposition time, substrate temperature, nitrogen-argon flow rate and sputtering power impacted the wear resistance of CrAlN coatings under dry friction conditions.

Nucleation density, micromorphology, densification and internal stress have a significant influence on the surface morphology and wear resistance of CrAlN coatings. The process parameters for better wear resistance of the CrAlN coatings were at a deposition time of 120 min, a substrate temperature of 573 K, a nitrogen-argon flow rate of 1:1 and a sputtering power of 160 W.

Simulation analysis and experimental results of this paper can provide data to assist in setting process parameters for applying CrAlN coatings to silicon nitride bearings.

This study aims to present the variations of optimal seismic control of reinforced cement concrete (RCC) structure using different structural systems. Different third-dimensional mathematical models are used to examine the responses of multistory flexibly connected frames subjected to earthquake excitations.

This paper examined a G + 50 multi-storied high-rise structure, which is analyzed using different combinations of moment resistant frames, shear walls, seismic outrigger systems and seismic dampers to observe the effectiveness during ground motion against soft soil conditions. The damping coefficients of added dampers, providing both upper and lower levels are taken into consideration. A finite element modeling and analysis is generated. Then the nature of the structure exposed to ground motion is captured with response spectrum analysis, using BNBC-2020 for four different seismic zones in Bangladesh.

The response of the structure is investigated according to the amplitude of the displacements, drifts, base shear, stiffness and torsion. The numerical results indicate that adding dampers at the base level can be the most effective against seismic control. However, placing an outrigger bracing system at the middle and top end with shear wall can be the most effective for controlling displacements and drifts.

The response of high-rise structures to seismic forces in Bangladesh’s soft soil conditions is examined at various levels in this study. This study is an original research which contributes to the knowledge to build earthquake resisting high-rises in Bangladesh.