List of Articles Actuator Saturation

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  1 - Computer-based Regressor-free Adaptive Control versus Direct Adaptive Fuzzy Control of the Robotic System
  Mahmood Nadali Abolghasem Nadali Maryam Nadali
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• Open Access Article
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  2 - Stability of Robust Lyapunov Based Control of Flexible-Joint Robots Using Voltage Control Strategy Revisited
  Ali Deylami
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• Open Access Article
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  3 - Tracking Control of Robots Revisited Based on Taylor Series and Asymptotic Expansion
  Ali Deylami
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• Open Access Article
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  4 - Impedance Control of Robots Using Voltage Control Strategy Revisited
  Masoud Shahhosseini
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• Open Access Article
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  5 - Integer-order Versus Fractional-order Adaptive Fuzzy Control of Electrically Driven Robots with Elastic Joints
  Asghar Kebreyaeezade
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• Open Access Article
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  6 - Task-space Control of Robots Using an Adaptive Taylor Series Uncertainty Estimator Revisited
  Masoud Shahhosseini
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• Open Access Article
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  7 - Neural Adaptive Control of an Artificial Pancreas for People with Type 1 Diabetes Under Saturated Insulin Injection Rate
  Sadegh Rezaei Mohsen Parsa
  It is essential to control vital variables in patients whose natural control system has been compromised for some reason. One of these vital variables is blood glucose levels. Unfortunately, in people with diabetes (blood sugar), blood glucose levels are not regulated p More

  It is essential to control vital variables in patients whose natural control system has been compromised for some reason. One of these vital variables is blood glucose levels. Unfortunately, in people with diabetes (blood sugar), blood glucose levels are not regulated properly. To compensate for this lack, in recent years, several studies and efforts have been made to build and improve the function of the artificial pancreas to control blood sugar. The presence of factors such as multiple uncertainties due to physiological differences in individuals, various activities during the day, delayed effects of carbohydrates on blood sugar levels, stress and exercise make controlling the artificial pancreas a challenging system. But one of the most important challenges in this area, which has not been less addressed in the literature is the limitation on the allowable dose of insulin injected into the artificial pancreas for patients with type 1 diabetes. On the one hand, injecting a high dose of insulin can cause problems such as hyperglycemia issues and on the other hand, injecting a negative dose of insulin is meaningless. In this paper, after selecting the Bergman model and considering the existence of asymmetric saturation in the actuator, the back-stepping control method is used and it is combined with an adaptive technique to improve the controller performance. Finally, simulation results depict that in the presence of large step disturbance, the insulation rate remains in the allowed band of zero to 20 mU/min, and the blood glucose level does not exceed the appropriate level 130mg/dl. Manuscript profile