It is well known that robotic manipulators are highly nonlinear coupling dynamic systems. It is difficult to establish an appropriate mathematical model for designing a model-based controller. The model-free feature of fuzzy logic control strategy was employed to design robotic motion controller. However, there is no guide rule for designing the fuzzy rule bank and parameters, it still needs ti...

We propose a terminal sliding mode control (SMC) law based on adaptive fuzzy-neural observer for nonaffine nonlinear uncertain system. First, a novel nonaffine nonlinear approximation algorithm is proposed for observer and controller design. Then, an adaptive fuzzy-neural observer is introduced to identify the simplified model and resolve the problem of the unavailability of the state variables...

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 ...

In this paper, a new approach to the super-twisting sliding mode control of uncertain systems is proposed. The idea behind this control scheme is to utilize an adaptive sliding surface function, in which the slope of the surface is updated on-line using a simple single input-single output fuzzy logic inference system so that the sliding surface is rotated in such a direction that the tracking p...

The DC-DC power converters are widely used; however, the controller design for the DC-DC power converters cannot easily design if the load dynamics vary widely. This paper proposes an adaptive wavelet neural control (AWNC) system for a forward DC-DC power converter. The proposed AWNC system is composed of a neural controller and a robust controller. The neural controller uses a wavelet neural n...

Abstract: In this study, the synchronization of the outputs for the uncertain chaotic systems with different-orders is presented. An adaptive fuzzy system has been used to approximate the uncertain nonlinear terms. The adaptive fuzzy control strategy is estimated to guarantee output-synchronization of the master-slave chaotic systems based on sliding control theorem. By using a dynamic compensa...

This paper presents an adaptive Fuzzy Sliding Mode Control approach for Assist-as-Needed (AAN) strategy to achieve effective human–exoskeleton synergy. The proposed employs instance-based learning algorithm estimate muscle effort, based on surface Electromyography (sEMG) signals. To determine and control the inverse dynamics of a highly nonlinear 4-degrees-of-freedom exoskeleton designed upper-...

This paper focuses on the construction of a fuzzy adaptive output feedback control based on any observer (high-gain (HG) observer, sliding mode (like) observer, etc.) for a class of single-input–single-output (SISO) uncertain or ill-defined affine nonlinear systems. Indeed, the corrective term of the proposed observer involves a well-defined design function which is shown to be satisfied by the...

In this paper, a novel state error feedback sliding controller is proposed. In the controller, an optimal feedback gain is required and in this study it is assumed to be unknown. Usually, a rudimentary feedback gain is used. Besides, in order to approximate the state error feedback sliding controller with the optimal feedback gain, an adaptive fuzzy system is employed. Thus, the proposed contro...