Sliding Mode Control With PID Sliding Surface for Active Vibration Damping of Pneumatically Actuated Soft Robots
نویسندگان
چکیده
منابع مشابه
Sliding Mode Control with Predictive PID Sliding Surface for Improved Performance pdfkeywords=Sliding Mode Control, Sliding surface, Predictive PID, GPC
In this paper, a sliding mode control system with a predictive proportional-integral-derivative (PPID-SMC) sliding surface is proposed. A robust sliding mode controller is suggested to track the desired trajectory despite uncertainty, set point variations, and external disturbances. The proposed sliding mode controller is chosen to ensure the stability of overall dynamics during the reaching ph...
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In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. Hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...
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in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...
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Traditional rigid robots, like those used in manufacturing, have been effective at precise, accurate, rapid motions in well structured environments for many decades now. However, they operate largely behind cages due to the danger of injury when moving in close proximity to people. A significant and recent shift in robotics involves trading rigid links and rigid actuators for soft, deformable l...
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2020
ISSN: 2169-3536
DOI: 10.1109/access.2020.2992997