Adaptive Control of Active Dental Joint

Abstract

In this paper, a PID model-based

Methodologies of Chattering Attenuation in Sliding Mode Controller

“…In sliding mode controller, sliding surface slope (λ) is the second factor to control the chattering, as a result the main task in the first objective is reduce or eliminate the chattering in sliding mode controller based on design parallel linear control methodology and discontinuous part. Sliding mode controller and linear control methodologies are robust based on Lyapunov theory, therefore; Lyapunov stability is proved in proposed chattering free sliding mode controller based on switching theory [14][15][16][17][18][19][20][21][22][23][24][25][26][27][28][29].…”

“…The dynamic modeling describes the relationship between motion, velocity, and accelerations to force/torque or current/voltage and also it can be used to describe the particular dynamic effects (e.g., inertia, coriolios, centrifugal, and the other parameters) to behavior of system. Spherical motor has nonlinear and uncertain dynamic parameters 3 degrees of freedom (DOF) motor [20][21][22][23][24][25][26].…”

“…In other words, the component ̈ influences, with a double integrator relationship, only the variable , independently of the motion of the other parts. Therefore, the angular acceleration is found as to be [19][20]:…”

“…This theory was first proposed in the early 1950 by Emelyanov and several co-workers and has been extensively developed since then with the invention of high speed control devices [2]. The main reason to opt for this controller is its acceptable control performance in wide range and solves two most important challenging topics in control which names, stability and robustness [7,[17][18][19][20]. Sliding mode control theory for control of robot manipulator was first proposed in 1978 by Young to solve the set point problem ( ̇ by discontinuous method in the following form;…”

“…Fine tuning the sliding surface slope is based on nonlinear equivalent part [1][2][3][4][5][6]. However, this controller is used in many applications but, pure sliding mode controller has two most important challenges: chattering phenomenon and nonlinear equivalent dynamic formulation in uncertain parameters [20][21][22][23][24][25][26][27][28][29].…”