<p>The safety of manipulators systems is receiving a lot attention these days. Faults have the ability to carry out harmful activities that harm equipment, environment, or persons. As result, it critical detect and diagnose problems as soon possible, well incorporate fault tolerance avoid performance deterioration circumstances. Robust sensor detection isolation (FDI) fault-tolerant contr...

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...

Several methods of chattering reduction have been reported. One approach [5] places a boundary layer around the switching surface such that the relay control is replaced by a saturation function. Another method [6] replaces a max-min-type control by a unit vector function. These approaches involve a trade-off between chattering and robustness. The aim of this paper is to develop a Fuzzy sliding...

In this paper, an almost new control approach called terminal synergetic control which works based on user defined manifold is applied to a nonlinear helicopter model. Stability analysis is convestigated using Lyapunov stability theory. Synergetic controller is applied to this nonlinear fifth-order helicopter model to control height and angle. Simulation results showed that it has faster and sm...

This paper deals with the design of a moving sliding surface in a variable structure plant for a second order system. The chattering phenomena is also dealt with during the switching process for an unstable sliding surface condition. The simulation examples considered in this paper shows the effectiveness of the sliding mode control method used for the design of the moving sliding surfaces. A s...