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A model of a flexible manipulator is developed with considering the geometrical nonlinearity and the effect of gravity. The model can be divided into a flexible dynamic subsystem and a rigid dynamic subsystem, and a decomposed dynamic control (DDC) including flexible dynamic control and rigid dynamic control is proposed for a controller design of the flexible manipulator. The flexible dynamic control...
In this paper a robust control scheme is proposed for the generalized projective chaos synchronization between two identical rotational simple pendulum (RSP) systems subjected to external disturbance. By the Lyapunov stability theory with control terms, a suitable sliding surface is proposed to ensure the stability of the controlled closed-loop system in sliding mode. When the bound of external disturbance...
We have been developing an exoskeleton robot (ExoRob) for assisting daily upper limb movements (i.e., shoulder, elbow and wrist). In this paper we have focused on the development of a 2DOF ExoRob to rehabilitate elbow joint flexion/extension and shoulder joint internal/external rotation, as a step toward the development of a complete (i.e., 3DOF) shoulder motion assisted exoskeleton robot. The proposed...
Since the longitudinal, lateral, and yaw dynamics of front steering vehicles are represented by nonlinear coupled equations, it is not easy to derive the explicit nonlinear controller of both steering angle and driving force for the perfect path-following control. In this paper, a novel and robust sliding mode controller for vehicles with coupled full dynamic model is presented. Comparing with the...
This paper presents distributed hybrid sliding mode control (SMC) technique for a class of nonlinear mechanical systems. The proposed technique reduces observer-controller gains from classical output feedback SMC approach via reducing the level of parametric uncertainty. To this end, we distribute uniformly the compact set of unknown parameters into a finite number of smaller compact subsets. Then...
The behavior of nonlinearity and time-varying cause the pneumatic actuator systems are difficult to be controlled. This paper proposes a Fourier series-based adaptive sliding-mode controller for nonlinear pneumatic servo systems. The Fourier series-based functional approximation technique can approximate an unknown function, thus bypassing the model-based prerequisite. The learning laws for the coefficients...
This paper presents a nonsingular terminal sliding mode control using fuzzy wavelet networks for trajectory tracking and stabilization of a Mecanum wheeled omnidirectional vehicle (MWOV). A dynamic model of the vehicle including static friction is constructed; on the basis of the model, a nonsingular terminal sliding mode control is proposed to achieve trajectory tracking and stabilization. Fuzzy...
Utilizing the notion of Filippov solution, a sliding mode control law is derived for generic second order nonlinear mechanical system with friction. The control law is designed with some tunable parameters and optional functions. The asymptotically stability of the closed-loop system is proved by the concept of the solution, nonsmooth analysis and nonsmooth Lyapunov stability theory. By some numerical...
As a stage toward a complete upper-arm motion assisted exoskeleton robot (i.e., 7DOF) this paper focused on the development of a 2DOF exoskeleton robot to rehabilitate and to ease wrist joint movements. To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and proper functioning of the upper-limb is essential. We therefore have been developing an exoskeleton...
To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and therefore proper functioning of upper-limb is very much essential. We therefore have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion. Toward to make a complete (i.e., 7DOF) upper-arm motion assisted robotic exoskeleton this paper focused on the development...
This paper deals with the tracking control of robot manipulators with uncertain payload. Proposed is a set of novel SM-NPID-like tracking controllers consisting of a linear combination of the linear sliding mode control, proportional control mode, derivative control mode, nonlinear control mode shaped by a nonlinear function of position errors, and two nonlinear integral control modes driven by a...
Double-layer vibration isolation device can significantly reduce the vibration of machinery and equipment delivered to the base or the environment. However, the passive approach is difficult to isolate the low-frequency vibration effectively. Active vibration isolation technology can set the control law according to the adjustment of dynamic characteristics parameters of the system, realize isolation...
Current real-time applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The adaptive features of the designed controller are present at the lower control level using specific artificial intelligence techniques. Fuzzy inference system design is the fundamental element to generate...
Trajectory-tracking is an important behaviour for mobile robots. This paper addresses the nonlinear sliding-mode trajectory-tracking control problem for a four-wheel-steering vehicle (4WS). The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering and to a tracking velocity that is not necessarily constant....
We propose a computational-oriented perspective within the study of discontinuous chaotic systems, and provide insights into the modelling, control and simulation of chaotic systems with switching dynamics. In particular, the Lorenz system in its piecewise-linear version is studied. This system is reinterpreted within the hybrid-automaton framework, and what is referred to as the Lorenz hybrid automaton...
This paper considers the finite-time stabilization problem for an integrator chain in the context of uncertain measurement nonlinearities, such that the signs of the state variables are the only available information for feedback. The solutions of this problem are known for single, double, and triple integrators. The main result of the present paper is a higher-order sliding mode (HOSM) controller...
In this paper we introduce a modification to the classical Second-Order Sliding Mode Observer (SOSMO), used mainly for mechanical systems, and that consists in adding higher order nonlinear injection terms. Besides the usual finite-time con- vergence and exactness of the SOSMO, this new algorithm makes the convergence uniform with respect to the initial conditions, that is, the observation error reaches...
This paper addresses a general theoretical framework of optimal control problems (OCPs) associated with the conventional sliding mode dynamics. We deal with a class of constrained OCPs governed by nonlinear affine control systems and propose some numerically stable approximations to the sophisticated dynamical optimization problem. The above-mentioned structure of the state equations makes it also...
Parameter uncertainty and measuring noise are still very challenging work in developing an appropriate controller for the automated clutch system due to the effect of the external disturbances. This paper introduces a robust control method for automated clutch system. A nonlinear dynamic model for the screw-nut actuator associated with clutch is derived, and then a dynamic sliding mode controller...
To synchronize chaotic systems with training data corrupted by noise or rule uncertainties involving external disturbances, a novel direct adaptive interval type-2 fuzzy neural network (FNN) controller in which linguistic fuzzy control rules can be directly incorporated into the controller is developed in this paper. By incorporating direct adaptive interval type-2 FNN control scheme and sliding mode...
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