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Nonlinear robust adaptive object manipulation by coordinated robotic arms employing Bleimann, Butzer, and Hahn operators for uncertainty estimation.

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Title: Nonlinear robust adaptive object manipulation by coordinated robotic arms employing Bleimann, Butzer, and Hahn operators for uncertainty estimation.
Authors: Mobayen, Saleh1 (AUTHOR), Izadbakhsh, Alireza2 (AUTHOR) izadbakhsh_alireza@iau.ac.ir
Source: Asian Journal of Control. Mar2026, Vol. 28 Issue 2, p941-961. 21p.
Subjects: Adaptive control systems, Operator functions, Nonlinear control theory, Industrial robots, Uncertainty (Information theory), Approximation theory
Abstract: Function approximation techniques (FAT) are a potent mathematical tool recently applied to create controllers for handling objects with multiple manipulators without relying on a specific model. However, its effectiveness is contingent on having velocity measurements, which might not be accessible in numerous real‐world scenarios. This paper addresses the issue by introducing a robust adaptive controller using Bleimann, Butzer, and Hahn operators as uncertainty approximators without velocity measurements. Utilizing the Lyapunov lemma, the error signals in the controlled system are guaranteed to remain Uniformly Ultimately Bounded (UUB). The proposed controller will eventually be implemented in a cooperative system where two arms handle a rigid object. The efficiency and effectiveness of the proposed approach are demonstrated through simulation results. [ABSTRACT FROM AUTHOR]
Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Nonlinear robust adaptive object manipulation by coordinated robotic arms employing Bleimann, Butzer, and Hahn operators for uncertainty estimation.
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  Data: <searchLink fieldCode="AR" term="%22Mobayen%2C+Saleh%22">Mobayen, Saleh</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Izadbakhsh%2C+Alireza%22">Izadbakhsh, Alireza</searchLink><relatesTo>2</relatesTo> (AUTHOR)<i> izadbakhsh_alireza@iau.ac.ir</i>
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  Data: <searchLink fieldCode="JN" term="%22Asian+Journal+of+Control%22">Asian Journal of Control</searchLink>. Mar2026, Vol. 28 Issue 2, p941-961. 21p.
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  Data: <searchLink fieldCode="DE" term="%22Adaptive+control+systems%22">Adaptive control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Operator+functions%22">Operator functions</searchLink><br /><searchLink fieldCode="DE" term="%22Nonlinear+control+theory%22">Nonlinear control theory</searchLink><br /><searchLink fieldCode="DE" term="%22Industrial+robots%22">Industrial robots</searchLink><br /><searchLink fieldCode="DE" term="%22Uncertainty+%28Information+theory%29%22">Uncertainty (Information theory)</searchLink><br /><searchLink fieldCode="DE" term="%22Approximation+theory%22">Approximation theory</searchLink>
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  Data: Function approximation techniques (FAT) are a potent mathematical tool recently applied to create controllers for handling objects with multiple manipulators without relying on a specific model. However, its effectiveness is contingent on having velocity measurements, which might not be accessible in numerous real‐world scenarios. This paper addresses the issue by introducing a robust adaptive controller using Bleimann, Butzer, and Hahn operators as uncertainty approximators without velocity measurements. Utilizing the Lyapunov lemma, the error signals in the controlled system are guaranteed to remain Uniformly Ultimately Bounded (UUB). The proposed controller will eventually be implemented in a cooperative system where two arms handle a rigid object. The efficiency and effectiveness of the proposed approach are demonstrated through simulation results. [ABSTRACT FROM AUTHOR]
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  Data: <i>Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1002/asjc.3706
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        Text: English
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        Type: general
      – SubjectFull: Operator functions
        Type: general
      – SubjectFull: Nonlinear control theory
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      – SubjectFull: Industrial robots
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      – SubjectFull: Uncertainty (Information theory)
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      – SubjectFull: Approximation theory
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              Text: Mar2026
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              Y: 2026
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