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Shape memory alloy (SMA) composites offer a great potential as actuators because of its excellent power to weight ratio, smooth motion and silent actuation. However, SMA actuated robotic manipulator systems have severe hysteresis, system nonlinearities, model and parametric uncertainties those are often responsible for position inaccuracy in a regulation or tracking system. A simple and upstanding...
The temperature control system of heat exchanger in district heating is a nonlinear system with strong heat inertia and large time lag. Classical PID control dissatisfies static characteristics and dynamic characteristics of the system during its control process. According to this case, an adaptive fuzzy sliding mode controller is designed based on stability theory of Lyapunov for the system. Simulation...
In this paper, a chattering free sliding mode control (SMC) for a robot manipulator including PID part with a fuzzy tunable gain is designed. The main idea is that the robustness property of SMC and good response characteristics of PID are combined with fuzzy tuning gain approach to achieve more acceptable performance. For this purpose, in the first stage, a PID sliding surface is considered such...
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