相关论文: A Sliding Mode Controller Based on Timoshenko Beam…
The significance of employing a controller in prosthetic hands cannot be overstated, as it plays a crucial role in enhancing the functionality and usability of these systems. This paper introduces an adaptive neuro-controller specifically…
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…
The integration of advanced control strategies into prosthetic hands is essential to improve their adaptability and performance. In this study, we present an implementation of a Model Predictive Control (MPC) strategy to regulate the…
The incorporation of advanced control algorithms into prosthetic hands significantly enhances their ability to replicate the intricate motions of a human hand. This work introduces a model-based controller that combines an Artificial Neural…
Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact interactions, and uncertainties in state estimation. Sampling-based model…
Tendon-driven robotic hands offer unparalleled dexterity for manipulation tasks, but learning control policies for such systems presents unique challenges. Unlike joint-actuated robotic hands, tendon-driven systems lack a direct one-to-one…
Permanent Magnet Synchronous Motors (PMSMs) are widely employed in high-performance drive systems owing to their high efficiency and power density. However, nonlinear dynamics, parameter uncertainties, and load disturbances complicate their…
Precise handling of chemical instruments and materials within a self-driving laboratory environment using robotic systems demands advanced and reliable control strategies. Sliding Mode Control (SMC) has emerged as a robust approach for…
Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and boundary constraints. To address these challenges, we first…
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dynamic model-based control strategies tailored for…
Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to…
To achieve accurate contour tracking of robotic manipulators with dynamic uncertainties, coupling and actuator faults, an adaptive non-singular terminal sliding mode control (ANTSMC) based on cross-coupling is proposed. Firstly, the…
In this study, a new position control scheme for the tendon-sheath mechanism (TSM) which is used in flexible medical devices is presented. TSM is widely used in dexterous robotic applications because it can flexibly work in limited space,…
This paper proposes a practical implementation of sliding mode control (SMC) that utilizes partial modeling compensation. Sliding mode control is well known for its effectiveness as a model free control approach, however, its effectiveness…
Voltage regulation under conventional grid-forming controllers is tightly coupled to power sharing and dc-link dynamics. Consequently, its tracking accuracy deteriorates during grid faults, sudden power sharing changes, or dc-bus voltage…
To obtain precise motion control of wafer stages, an adaptive neural network and fractional-order super-twisting control strategy is proposed. Based on sliding mode control (SMC), the proposed controller aims to address two challenges in…
This research proposes a Sliding Mode PID (SMC-PID) controller to improve the speed control performance of DC servo motors, which are widely used in industrial applications such as robotics and CNC. The objective of the proposed controller…
This paper presents a new task-space Non-singular Terminal Super-Twisting Sliding Mode (NT-STSM) controller with adaptive gains for robust trajectory tracking of a 7-DOF robotic manipulator. The proposed approach addresses the challenges of…
Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional…
Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new direction controller HTSMC, an instruction planning controller…