Position tracking and balancing control of ball balancer system using intelligent controllers

2021 ◽  
Vol 37 (1) ◽  
pp. 69
Author(s):  
Ankita Varshney ◽  
Bharat Bhushan ◽  
Rupam Singh
Keyword(s):  
Position Tracking ◽  
Balancing Control ◽  
Intelligent Controllers

Sliding Mode Control of an Actuated Knee Joint Orthosis

2021 ◽  
Vol 15 ◽  
Author(s):  
Imen Saidi ◽  
Asma Hammami
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Position Tracking ◽  
Sliding Mode Controller ◽  
Mechanical Device ◽  
Tracking Errors ◽  
Mode Control ◽  
Speed Tracking ◽  
Human Morphology

Introduction: In this paper, a robust sliding mode controller is developed to control an orthosis used for rehabilitation of lower limb. Materials and Methods: The orthosis is defined as a mechanical device intended to physically assist a human subject for the realization of his movements. It should be adapted to the human morphology, interacting in harmony with its movements, and providing the necessary efforts along the limbs to which it is attached. Results: The application of the sliding mode control to the Shank-orthosis system shows satisfactory dynamic response and tracking performances. Conclusion: In fact, position tracking and speed tracking errors are very small. The sliding mode controller effectively absorbs disturbance and parametric variations, hence the efficiency and robustness of our applied control.

scholarly journals Performance of displayed-marker-based position tracking

2018 ◽  
Vol 12 (7) ◽  
pp. JAMDSM0125-JAMDSM0125
Author(s):  
Akio YAMAMOTO ◽  
Taku NAKAMURA
Keyword(s):  
Position Tracking
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