scholarly journals Robust Multi-robot Formations via Sliding Mode Controller and Fuzzy Compensator

Automatika ◽  
2016 ◽  
Vol 57 (4) ◽  
pp. 1007-1019 ◽  
Author(s):  
Dianwei Qian ◽  
Shiwen Tong ◽  
Chang Xu
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Fuzzy Compensator ◽  
Robot Formations ◽  
Multi Robot

Micro-drilling process control by using adaptive sliding controller

2014 ◽  
Vol 31 (2) ◽  
pp. 201-215
Author(s):  
Hung-Yi Chen
Keyword(s):  
Process Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Learning Ability ◽  
Sliding Mode Controller ◽  
Drilling Process ◽  
Time Varying ◽  
Content Type ◽  
Micro Drilling ◽  
Fuzzy Compensator

Purpose – Recently, the micro-positioning technology has become more important for achieving the requirement of precision machinery. The piezo-actuator plays a very important role in this application area. A model-free adaptive sliding controller with fuzzy compensation is proposed for a piezo-actuated micro-drilling process control in this paper. The paper aims to discuss these issues. Design/methodology/approach – Due to the system's nonlinear and time-varying characteristics, this control strategy employs the functional approximation technique to establish the unknown function for releasing the model-based requirement of the sliding mode control. In addition, a fuzzy scheme with online learning ability is augmented to compensate for the finite approximation error and facilitate the controller design. Findings – The Lyapunov direct method can be applied to find adaptive laws for updating coefficients in the approximating series and tuning parameter in the fuzzy compensator to guarantee the control system stability. With the addition adaptive fuzzy compensator, as less as five Fourier series functions can be used to approximate the nonlinear time-varying function for designing a sliding mode controller for micro-drilling process control. Originality/value – The important advantages of this approach are to achieve the sliding mode controller design without the system dynamic model requirement and release the trial-and-error work of selecting approximation function.

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.

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