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This paper presents design and implementation of a novel adaptive chattering-free sliding mode control (ACFSMC) scheme and its application to motion control of robot manipulators. Due to the presence of complex phenomena such as large flexibility, model uncertainties, and external disturbances a robust and adaptive control is required to control the motion of the robots. This paper presents the design...
One of the challenges for electrocardiogram (ECG) signals extraction is additive power line interference (PLI) which contains 50Hz or 60Hz base frequency and several harmonics. Variety of fixed-frequency and adaptive notch filter structures are proposed for power line interference suppression. Because of frequency varying behavior of power line interference, fixed frequency filters suffer from the...
This paper presents design and implementation of a novel adaptive fuzzy sliding mode control (AFSMC) scheme and its application to the height control of laser metal deposition process (LMD). Because of the uncertainties in modelling, and imperfections in switching devices or delays, the standard sliding mode control (SMC) cannot be used due to chattering. In order to eliminate the chattering, the...
In this paper, a new and systematic approach to design a continuous sliding mode control (CSMC) for tracking control of a class of MIMO nonlinear uncertain systems is presented. The proposed method is designed based on online estimation of the uncertainties instead of using the upper bound of uncertainties which is difficult or impossible to find in many cases. The on-line estimation of the uncertainties...
Complex dynamical systems, which are difficult to be mathematically modeled, can be described by a fuzzy model. This paper attempts to improve and to address the problems concerning the systematic fuzzy-logic modeling, by introducing the following concepts: 1) an effective theoretical base method to identify the optimum fuzziness parameter (weighting exponent) m instead of the heuristic selection...
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