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Keyword: robust control
Robust µController Implementations for a Linear Pneumatic Actuator Interaction
Over the years, pneumatic systems have recorded a remarkable performance in automated applications, based on their cost to efficiency ratio and ease of energy transmission. Therefore, their drawback of not being totally controllable devices in terms of position accuracy, still represents a challenge task for engineers. In this paper, a traditional three term controller (PID)…
Read More A Fast Adaptive Time-delay-estimation Sliding Mode Controller for Robot Manipulators
A nonlinear adaptive robust controller is proposed in this paper for trajectory-tracking control problems of robot manipulators. On one hand, to effectively approximate the systematic dynamics, a simple time-delay estimator is first adopted. On the other hand, to minimize the control error, the controller is designed based on a sliding mode structure using the obtained…
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