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Inverted pendulum is one of the most important plants to be researched to investigate the validity of various control strategies, it's a highly nonlinear, unstable system. In this paper, the friction force and viscous moment are considered in the modeling of the plant, the sliding mode control method is applied to the design of the control system of inverted pendulum, both traditional sliding mode...
Minimally invasive surgery (MIS) robot is made like a long cylinder with small diameter that can fit through a small incision thus decreasing the amount of healthy tissue damaged. Because of the shape of the surgical robot, the cable-driven mechanism is using to the robot. However this is a highly nonlinear system so the performance of the system is not so good. This paper applied a robust motion...
A scheme which combines fuzzy control with terminal sliding mode control is proposed in this paper, and stability of the proposed control scheme is proved. It is not only guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily, but also the chattering phenomenon is alleviated effectively by using the fuzzy logic controller to substituted the signum function...
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