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In this paper, a novel adaptive PID with sliding mode control for the rotary inverted pendulum is proposed. The goal is to achieve system robustness against parameter variations and external disturbances. In this study, the three parameters of PID controller, proportional gain, integral gain, and derivative gain can be systematically obtained according to the adaptive law. Further reduction of the...
In this paper, an adaptive fuzzy sliding mode controller is proposed for a three-axis SCARA manipulator. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. Based on the concept of sliding mode, fuzzy rules are developed to alleviate the input chattering effectively by using the developed adaptation law. The stability of the three-axis SCARA...
An intelligent neural sliding controller is developed for planetary train type inverted pendulum mechanism. The control methodology is based on the sliding mode control. The switching function in the normal control law is replaced with a bipolar sigmoid function. A fuzzy neural network is used to identify the pendulum dynamics. Adaptive tuning law is derived. The bipolar sigmoid function is thus adjusted...
A systematic adaptive sliding mode controller design for solving the robust tracking problem is developed for nonlinear systems. An adaptation approach with only one adaptive gain parameter is proposed to replace the high frequency switching control term in conventional sliding mode control. This adaptive gain parameter is tuned to deal with unknown but bounded system uncertainties. The stability...
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