In the era of digital OT (Operating Theatre), developments in Robot-Assisted Surgery (RAS) can greatly benefit medical field. RAS is a method technological advancement that uses surgical robots to assist complicated surgeries. Its implementation improves ability specialised doctors perform surgery great extent. This paper addresses dynamics and control highly non-linear 3DOF robot manipulator o...

Abstract. This work presents the design of robust sliding mode controllers for three-phase ac-ac matrix converters, in order to guarantee output sinusoidal waveforms and near unity input power factor. First, the sliding mode controller, based on the state-space vectors modulation technique, is designed for the matrix converter and the obtained results are compared to those obtained using the cl...

For the tracking control problem of vehicle suspension, a robust design method of adaptive sliding mode control is derived in this paper. The influence of parameter uncertainties and external disturbances on the system performance can be reduced and system robustness can be improved. The adaptive sliding mode controller is designed so that the practical system can track the state of the referen...

An improved fractional-order sliding mode control (FOSMC) for PMSM is presented in this study to set the unavoidable parameters and improve permanent magnet synchronous motors (PMSMs) drive performance, such as current speed tracking accuracy. To determine optimal of FOSMC a drive, neural network algorithm with reinforcement learning (RLNNA) proposed. The are by ANN then adapted through enhance...

Active magnetic levitation control system is an open-loop, unstable, complex, nonlinear and strong coupling control system, which can not achieve good control effect by using conventional PID controller. Therefore, the fractional order PID controller is used in active magnetic control system. The integer order of conventional PID controller is extended to fractional order range, thus there are ...

In this paper, a sliding mode fuzzy controller for a nonholonomic wheeled mobile robot is proposed for tracking desired trajectories. We know that sliding mode control can deal with non linearities of control system and is robust. However, it has drawbacks such as a chattering. So, we introduce a fuzzy logic in order to reduce this phenomenon. Two sliding mode fuzzy controllers (SMFC) are descr...

This paper considers fault estimation in nonlinear fractional order systems in observer form. For this aim, a step by step second order sliding mode observer is used. By means of a fractional inequality, the stability of the observer estimation errors is analyzed and some conditions are introduced to guarantee finite time convergence of estimation errors. Finally, in a numerical example, effect...

Purpose This paper aimed a fractional-order sliding mode-based lateral lane-change control method that was proposed to improve the path-tracking accuracy of vehicle motion. Design/methodology/approach In this presighting and kinematic models were established, new mode isokinetic convergence law devised based on fractional order calculus make front wheel turning angle approach desired value quic...

This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the un...