A comprehensive comparison between regressor-free control and direct adaptive fuzzy control of flexible-joint robots is addressed in this paper. In the proposed regressor-free controller, two critical practical situations are considered: the fact that robot actuators have limited voltages, and limitation on the number of measurement devices. However, in the article "decentralized direct adaptive fuzzy control for flexible-joint robots," these limitations have been neglected. It should be noted that a few solutions for the voltage-bounded robust tracking control of flexible joint robots have been proposed. In this paper; we contribute to this subject by presenting a new form of voltage-based controllers. The closed-loop control system stability is proved, and uniformly boundedness of the joint position errors is guaranteed. As a second contribution of this paper, we present a robust adaptive control scheme without the need for computation of the regressor matrix with the same result on the closed-loop system stability. Experimental results of the proposed controller and the decentralized direct adaptive fuzzy controller are produced using MATLAB/SIMULINK external mode control on a single-link flexible-joint electrically driven robot. Experimental and analytical results demonstrate the high performance of the proposed control scheme. Manuscript profile

Recent developments in the fields of electronic and digital telecommunications and creating low consumption compact circuits in nano dimensions have provided the ability to create sensors with low consumption power, small size, suitable cost, and various usages in the medical field. In past years, most of the researchers focused on sensor networks of the human body for designing wireless sensor, minimizing and matching them with live fibers of the body, lowering the consumption power, better signal processing, and communicational protocols and their security. Since the importance of sensor networks in the medical field, an entirely different method has been offered in this paper. It is based that we can manage nodes by changing the place of sensors, somehow that if the consumption powers of inside sensors are defined, then the power of all sensors will tend zero in a short period. Several various cost functions were offered based on the designed method, which created the most symmetrical kind of consumption and the lowest consumption in nodes. Then some optimality has been created in the selection of nodes in two modes of main and usual, by firefly ultra-complete algorithm. The offered method is better than the last methods because if the amounts nodes get increased, it will correctly keep its utility. After designing the costs function, the offered network has been implemented with software, and the results haves hown that in all fields, in terms of quality and consumption power form, the offered method has more utilization than other methods in the same terms. Manuscript profile