Second order sliding mode control for direct drive positioning system

Chiew, Tsung Heng; Jamaludin, Zamberi; Hashim, Ahmad Yusairi Bani; Abdullah, L.; Rafan, Nur Aidawaty; Maharof, Madihah

doi:10.15282/jmes.11.4.2017.23.0289

Cited by 9 publications

(5 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Furthermore, the transient response of each configuration was analyzed using seven parameters to determine the performance of each controller. The parameters included rise time, settling time, overshoot, mean pressure value, root mean square error (RMSE), and maximum spike [23], [24]. In terms of the feedback system, the pressure values were obtained by the sensor for each controller every second.…”

Section: Control System Configurationmentioning

confidence: 99%

Development and characterization of an automated portable wound irrigation device for diabetic ulcers

Nadhif

Assyarify²,

Irsyad³

et al. 2022

IJECE

View full text Add to dashboard Cite

<p>Patients with diabetes mellitus may experience peripheral neuropathy and extremity system impairment, which may lead to ulceration if the treatments are delayed. Diabetic ulcers, unfortunately, are chronic, which require proper treatments, including debridement and bacterial removal using an irrigation device. To date, commercial irrigation devices included pulsed-lavage, bulb syringe, and gravity bags. Unfortunately, the devices have limitations in terms of portability, measurability, controllability, and disposability. To tackle the limitations, this study aims to design, fabricate, and characterize an automated portable wound irrigation device (Apdice), which is controllable non-disposable, and portable. The device was designed and fabricated using a lightweight construction, a rechargeable battery, and non-disposable materials to support the portability and non-disposable means. Meanwhile, the proportional-derivative-integral controller with its peripheral components were featured to enable controllability. Furthermore, the device was also tested regarding the contamination using a particle counter, and appeared to be contamination free. In short, Apdice showed a robust technological performance. However, it is also worth the try to test the contamination test against biological agents to guarantee the biocompatibility of the device.</p>

show abstract

Section: Control System Configurationmentioning

confidence: 99%

Development and characterization of an automated portable wound irrigation device for diabetic ulcers

Nadhif

Assyarify²,

Irsyad³

et al. 2022

IJECE

View full text Add to dashboard Cite

show abstract

“…It has a special application on the different nonlinear systems based on feedback linearization by the use of nonlinear feedback law it would able to compute required torque in the arm [15][16][17][18]. It performs significantly well when all dynamic and physical parameter of the system is known [19][20][21][22][23]. The CTC like control appears in Robust, Adaptive and Learning Control [19,23,24].…”

Section: Control: Computed Torque Controller Analysismentioning

confidence: 99%

“…It performs significantly well when all dynamic and physical parameter of the system is known [19][20][21][22][23]. The CTC like control appears in Robust, Adaptive and Learning Control [19,23,24]. Figure 3 provides the block diagram for PD-CTC Controller, which illustrates that it's a feedback control system.…”

Section: Control: Computed Torque Controller Analysismentioning

confidence: 99%

Performance estimation of computed torque control for surgical robot application

Verma

Gupta

et al. 2020

JMES

View full text Add to dashboard Cite

In the current paradigm, the development in robotic technology has a huge impact to revolutionize the medical domain. Surgical robots have greater advantages over surgeon such as reduced operating time, reduced tremor, less blood loss, and high dexterity. To perform different operations during surgery a base robot is required with the task-specific end effector. In this paper, the selective compliant assembly robot arm (SCARA) has been considered as the base robot and the complete mathematical modeling of the robot is illustrated. The equation of Kinematics is derived from the D-H notation. SCARA dynamic model is derived from Euler Lagrange. In order to achieve trajectory tracking the Computed Toque Control technique (CTC) applied to the SCARA manipulator. The performance of the CTC technique for trajectory tracking of each joint of the SCARA robot has evaluated in contrast with tuned PD and PID controller. The simulation results were discussed and verified using MATLAB simulation software.

show abstract

“…In spite of linear fixed parameters PID controllers are often suitable for controlling a simple physical process, the demands for high performance control with different operating point conditions or environmental parameters are often beyond the abilities of simple PID controllers. It can improve the performance of linear PID controllers using several techniques which will be established to increase the flexibility and robustness for instance, the self-tuning method, general predictive control, neural networks strategy and fuzzy logic, and other methods [24].…”

Section: Identified Model (Nonlinear Arx Model)mentioning

confidence: 99%

Real-time implementation of an enhanced nonlinear PID controller based on harmony search for one-stage servomechanism system

Shamseldin

Sallam

Bassiuny

et al. 2018

JMES

View full text Add to dashboard Cite

This paper presents a real-time implementation of an enhanced nonlinear PID (NPID) controller to follow a preselected position profile of one stage servomechanism drive system. This purpose should be realized regardless the different operating points and external disorders (friction and backlash). In this study, the MATLAB Simulink used for purpose of controller design while the result from simulation will be executed in real time using LABVIEW software. There is not enough information about the servomechanism experimental setup so, the system identification techniques will be used via collecting experimental input/output data. The optimum parameters for the controllers have been obtained via harmony search optimization technique according to an effective cost function. Also, the performance of enhanced NPID controller has been investigated by comparing it with linear PID controller. The experimental and simulation results show that the proposed NPID controller has minimum rise time and settling time through constant position reference test. Also, the NPID control is faster than the linear PID control by 40% in case of variable position reference test.

show abstract

Second order sliding mode control for direct drive positioning system

Cited by 9 publications

References 32 publications

Development and characterization of an automated portable wound irrigation device for diabetic ulcers

Development and characterization of an automated portable wound irrigation device for diabetic ulcers

Performance estimation of computed torque control for surgical robot application

Real-time implementation of an enhanced nonlinear PID controller based on harmony search for one-stage servomechanism system

Contact Info

Product

Resources

About