Sliding-Mode Control for High-Precision Motion of a Piezostage

2007 ◽  
Vol 54 (1) ◽  
pp. 629-637 ◽  
Author(s):  
Khalid Abidi ◽  
Asif Sabanovic
Keyword(s):  
Sliding Mode Control ◽  
High Precision ◽  
Sliding Mode ◽  
Mode Control ◽  
Precision Motion

scholarly journals The adaptive neural network sliding mode control for angle/force tracking of the dexterous hand

2021 ◽  
Vol 13 (8) ◽  
pp. 168781402110380
Author(s):  
Xing Qin ◽  
Heng Shi ◽  
Xin Gao ◽  
Xiyu Li
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
High Precision ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Adaptive Neural Network ◽  
Estimation Errors ◽  
Mode Control ◽  
Order Of Magnitude ◽  
Dexterous Hand

In order to achieve high precision control of the dexterous hand, an adaptive neural network sliding mode control algorithm based on the U-K (Udwadia-Kalaba) equation is proposed. Firstly, based on the U-K equation and considering the ideal and non-ideal constrained force at each link of the dexterous hand, the detailed dynamic equation is derived. Secondly, considering the uncertainty of the non-ideal constrained force (mainly the friction force on each link of the dexterous hand) and the chattering phenomenon when using sliding mode control alone, the adaptive neural network and the sliding mode control algorithm are combined to realize the high-precision tracking and estimation of each link angle trajectory and the non-ideal constrained force. Finally, in order to verify the correctness and rationality of the proposed algorithm, the 3-DOF spatial dexterous hand is taken as the simulated object. The simulation results show that the tracking and estimation errors of each link angle and the non-ideal constrained force are 10−2 order of magnitude.

High precision sliding mode control for micro-momentum wheel

2015 ◽  
Vol 23 (9) ◽  
pp. 2553-2561
Author(s):  
王梦赑 WANG Meng-bi ◽  
张高飞 ZHANG Gao-fei ◽  
尤政 YOU Zheng ◽  
田宁 TIAN Ning
Keyword(s):  
Sliding Mode Control ◽  
High Precision ◽  
Sliding Mode ◽  
Mode Control
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