A new sliding mode controller for manipulator driven by artificial muscle actuator is presented which guarantees an asymptotic tracking of a desired trajectory. Based on the non-linear characteristic of artificial muscle tube, a dynamic model of artificial muscle actuator is formed and exploited to derive a full dynamic model for the manipulator system. By applying the sliding mode control technique and the presented full dynamic of manipulator, a robust tracking control approach is developed for such manipulator system. The controller consists of a feedforward control part and a novel sliding mode control part, so that the tracking error of the closed-loop system, which is composed by the robust controller, will converge to zero in a finite time. The asymptotic stability of the closed-loop tracking system is proven by means of the Lyapunov method, and it is also guaranteed that the control input is bounded. Some numerical case studies are provided to illustrate the performance of the control approach.
This paper uses the fixed‐point theorem to generate a set of sufficient conditions which confine the solutions of weak nonlinear differential equations to some low‐order stable integral manifold. Furthermore, it is shown that these conditions can be weakened to a great extent if the initial values of the differential equations are confined to a bounded region.
A method is proposed for finding the integral manifold in an analytic form such as a Fourier series and a new calculation algorithm which applies the Newton method and other techniques. Next, the obtained results are applied to weak nonlinear optimal regulator problems and sufficient conditions are derived for the existence of a nonlinear feedback control law which meets the necessary conditions for optimality. Simulations using the algorithm exhibited favorable results.
A mouse for personal computer is now replacing the keyboard for computer input devices, because it's ease of use and the progress of operation systems. A mouse is easy for a non-disabled person to operate, however not so easy for a handicapped person. In particular, a cerebral paralyzed person and a proximal spine injured person often have much difficulty in dealing with a mouse nor can't use it at all. However, a person with a C4 injured spinal nerve is able to bend, stretch and rotate his neck and also able to raise his shoulders because the functions of his stemodeidomastoid and trapezius muscles remain. For those people, we have developed an inputs system using neck and shoulder motions instead of manual input by a mouse. In this study, two kinds of devices using limit switches and linear potentiometers were developed and both of the results were compared. As operability has to be improved, practical usefulness for the handicapped person was confirmed Finally, the feasibility of such systems being used for the driving wheel-chairs was examined
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