In this paper, the problem of driving angular position of a direct current servomotor system with unmodeled wide backlash nonlinearity is addressed. In order to tackle this problem, a control scheme based on an adaptive super twisting algorithm is proposed. In order to implement the proposed controller, information about angular velocity is estimated by means of a robust differentiator. Based o...

This paper addresses the use of fractional order control (FOC) in the context of control through networks to minimize or compensate the effect of the time-varying networkinduced delay. In particular, two fractional order strategies are presented based on the adaptation of, on one hand, the gains of a fractional order PI controller, and, on the other hand, both its gains and its order in accorda...

Abstract— In this paper Fuzzy Lyapunov Synthesis is extended to the design of Type-1 Fuzzy Logic Controllers for nonsmooth mechanical systems. The output regulation problem for a servomechanism with nonlinear backlash is proposed as a case of study. The problem at hand is to design a feedback controller so as to obtain the closed-loop system in which all trajectories are bounded and the load of...

In this study, an industrial sliding-mode servo control system is developed for the motion control of a direct-drive-type elevator-door servomechanism. The mechanical structure and dynamic analyses of an elevatordoor mechanism with an indirect field-oriented induction servomotor drive is described initially. Moreover, a newly designed total sliding-mode control (TSMC) system, which is insensiti...

The novelty of this paper is a hybrid approach for modeling and implementing a real-time control strategy of a dc Servomotor angular speed by using a sliding mode control module. The sliding mode controller is embedded in an open-loop control system structure with a dc Buck converter to stabilize and regulate the converter output voltage, despite the load current changes and unregulated power s...

Abstruct This project deals with the speed control of a DC servo motor. The speed is controlled by a digital PI controller. The difference equation of the PI controller is obtained from the transfer function and the digital controller is implemented by the graphical Programming method. In speed control application of servomotor proportional controller can reduce the steady state error if the lo...

Hybrid mechanical press is an innovative sheet metal stamping press that has the advantages of both mechanical press and the hydraulic press. This paper focuses on the control of the hybrid mechanical press, including trajectory planning, trajectory optimization and real time feedback control. The trajectory planning is based on inverse kinematics and cubic spline interpolation. The trajectory ...

743 Abstract— An implementation for surface EMG network analysis and vertical control system of robotic arm is presented in this paper. The transmembranes are simulated by equivalent circuit and cable equation for propagation to be converted to circuit networks. The implementation is realized to be derived from the detecting EMG signal from 3 electrodes, and EMG transmembrane signals of human a...

The purpose of this paper is to present a linear quadratic simultaneous multi-model stabilizing approach based on simulated annealing algorithm. This method is developed to design robust control laws for AC drives. A specific application to a synchronous self-controlled motor is detailed. The main objective here is design a robust controller with predetermined structure. Experimental results ar...

The majority of processes met in the industrial practice have stochastic characteristics and eventually they embody non-linear behaviour. Traditional controllers with fixed parameters are often unsuitable for such processes because their parameters change. The changes of process parameters are caused by changes in the manufacturing process, in the nature of the input materials, fuel, machinery ...