This paper presents a novel direct torque control (DTC) based on adaptive sliding mode control (SMC) and fuzzy logic control (FLC) for speed control of induction motor. According to this method, an adaptive sliding mode controller is designed to replace the PID speed controller in order to increase system rapidity and anti-interference ability. In addition, a fuzzy logic controller is used to adjust the bandwidth of torque hysteresis controller. It can obviously reduce the torque ripple of induction motor at low speed. The stability analysis of the closed-loop control system is also analyzed by using Lyapunov theory. The simulation results show that the DTC based on adaptive SMC and FLC has better dynamic response and speed performance, high robustness and strong anti-interference to load torque disturbance at low speed.
In this paper, an adaptive neural network command filtered backstepping impedance control method is developed for uncertain robotic manipulators with disturbance observer. First, an adaptive neural network algorithm is used to estimate the uncertain dynamics in the robot system. Second, impedance control is introduced to adjust the force and position relationship in physical human–robot interaction (pHRI). Third, a disturbance observer is employed to estimate the unknown external disturbance in the environment and compensate the control system to improve the safety of pHRI. Then, the command filtered technique can overcome problems of the ‘computational complexity’ and ‘singularity’ of traditional backstepping design. Finally, the simulation results are provided to illustrate the effectiveness of the proposed control method in pHRI.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.