Due to computational burden and dynamic uncertainty, the classical model-based control approaches are hard to be implemented in the multivariable robotic systems. In this paper, a model-free fuzzy sliding mode control based on neural network is proposed. In classical sliding mode controllers, system dynamics and system parameters are required to compute the equivalent control. In Radial Basis F...

It is well known that sliding-mode control can give good transient performance and system robustness. However, the presence of chattering may introduce problems to the actuators. Many chattering elimination methods use a finite dc gain controller which leads to a finite steady-state error. One method to ensure zero steady-state error is using a proportional plus integral (PI) controller. This p...

The intelligent control technology with the traditional control theory formats intelligent compound controller in order to learn from each other and improve the overall advantage of complementary features. Fuzzy PID control neuron PID control, fuzzy sliding mode control, and optimal control of the neural network. This paper discusses the current situation and development of smart composite cont...

This paper presents an implementation of stable direct adaptive control on nonlinear systems using lyapunov function with fuzzy approach. Stable direct adaptive control law consists of an ideal control, and a sliding mode control. Sliding mode controller is used to ensure the stability of Lyapunov function. Stability of direct adaptive control law is tested on two nonlinear systems. Non linear ...

The thin-disc piezoceramic-driving ultrasonic actuator dedicated to a stepping ultrasonic motor is proposed. The mechanical hysteresis and dead-zone phenomena are automatically compensated by a closed loop servo control, i.e. Fuzzy Sliding-Mode Control (FSMC), for position tracking. The controller design of FSMC has syncretized the fuzzy reasoning and sliding mode control with robust stability ...

This paper shows implementation of indirect adaptive control law for nonlinear systems using TakagiSugeno fuzzy system. Takagi-Sugeno fuzzy system is used to identify nonlinear system components theta alpha and theta beta. Stable Indirect Adaptive control law is such that it has two control components one is certainty equivalence control and other is sliding mode control. Sliding mode controlle...

This paper presents controlling of a class of nonlinear systems with structured and unstructured uncertainties using fuzzy sliding mode control. First known dynamics of the system are eliminated through feedback linearization and then fuzzy sliding mode controller is designed using TS method, based on the Lyapunov method, which is capable of handling uncertainties. There are no signs of the und...

In this paper, a robust control system with the fuzzy sliding mode controller and the additional compensator is presented. The additional compensator relaying on the slidingmode theory is used to improve the dynamical characteristics of the drive system. Sliding mode control method is studied for controlling DC motor because of its robustness against model uncertainties and external disturbance...

In this paper, chaotic dynamic and nonlinear control in a glucose-insulin system in types I diabetic patients and a healthy person have been investigated. Chaotic analysis methods of the blood glucose system include Lyapunov exponent and power spectral density based on the time series derived from the clinical data. Wolf's algorithm is used to calculate the Lyapunov exponent, which positive val...