This 'paper presents the development of a Proportional-Integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proposed controller is designed using the centralized and decentralized approaches...

<p><span lang="EN-US">An inexpensive exoskeleton of the lower limb was designed and developed in this study. It can be used as a gait trainer for persons with problems. plays an essential role rehabilitation aid patients, it help them improve their physical condition. This paper proposes hybrid controller regulating robot-assisted that uses proportional integral derivative (PID) com...

Educational issues of Proportional, Integral (PI) and Proportional, Integral, and Derivative (PID) type controller design in undergraduate course on control, graduate course on control, advanced control topics are discussed. The main attention is devoted to multi-time-scale control systems where PI PID type controllers designed for nonlinear systems in the presence of plant parameter variations...

This paper describes the stepper motor position control implemented using a novel nonsingleton type-1 fuzzy logic system to update the gains of the professional proportional-integral-derivative controller running on ATMEGA 2560 microcontroller. In this work, three controllers are compared: a) the professional proportional-integral-derivative controller, b) the type-1 singleton fuzzy logic syste...

The aim of the paper is to present tuning equations for one-degree-of-freedom (1DoF) proportional integral (PI) and proportional integral derivative (PID) controllers. These are based on a performance/robustness trade-off analysis with firstand second-order plus deadtime models. On the basis of this analysis a tuning method is developed for 1DoF PI and PID controllers for servo and regulatory c...

Proportional + Integral + Derivative (PID) controllers are widely used in engineering applications such that more than half of the industrial controllers are PID controllers. There are many methods for tuning the PID parameters in the literature. In this paper an intelligent technique based on eXtended Classifier System (XCS) is presented to tune the PID controller parameters. The PID controlle...