Continuous Nonsingular Terminal Sliding-Mode Control of Shape Memory Alloy Actuators Using Time Delay Estimation

Jin, Maolin; Lee, Jinoh; Ahn, Kyung Kwan

doi:10.1109/tmech.2014.2323897

Cited by 197 publications

(116 citation statements)

References 48 publications

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“…It has been applied to many plants: a permanent-magnet synchronous motor [11], a DC-DC boost converter [12], shape memory alloy actuators [13,14], and chaotic systems [15,16]. Particularly, it has been also implemented for robot manipulators to perform trajectory tracking control, force control, impedance control, and dual arm cooperative control [17][18][19][20][21].…”

Section: Introductionmentioning

confidence: 99%

Control of Robot Manipulators Using Time-Delay Estimation and Fuzzy Logic Systems

Bae¹,

Jin²,

Suh³

et al. 2017

Journal of Electrical Engineering and Technology

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-A highly accurate model-free controller is proposed for trajectory tracking control of robot manipulators. The proposed controller incorporates time-delay estimation (TDE) to estimate and cancel continuous nonlinearities of robot dynamics, and exploits fuzzy logic systems to suppress the effect of the TDE error, which is due to discontinuous nonlinearities such as friction. To this end, integral sliding mode is defined using desired error dynamics, and a Mamdani-type fuzzy inference system is constructed. As a result, the proposed controller achieves the desired error dynamics well. Implementation of the proposed controller is easy because the design of the controller is intuitive and straightforward, and calculations of the complex robot dynamics are not required. The tracking performance of the proposed controller is verified experimentally using a 3-degree of freedom PUMAtype robot manipulator.

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Section: Introductionmentioning

confidence: 99%

Control of Robot Manipulators Using Time-Delay Estimation and Fuzzy Logic Systems

Bae¹,

Jin²,

Suh³

et al. 2017

Journal of Electrical Engineering and Technology

Self Cite

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“…For instance, 0-1 test is used to diagnose chaos in 1 and 2dof SMA oscillators. [35], time delay procedure is applied to control chaos [17], dynamics of SMA pendulum is presented in [4].…”

Section: Introductionmentioning

confidence: 99%

An influence of temperature on reconstructed middle ear with shape memory prosthesis

et al. 2017

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In the paper idea of reconstructed middle ear with a prosthesis made of shape memory alloy is proposed. The new design of shape memory prosthesis is used to enable adjusting its length to individual patient's needs which is a novel contribution of the paper. In order to make a proper fit of prosthesis, a surgeon has to adjust its size and position by cutting step by step classical prosthesis. It takes time of a operation and enlarges a period of patient's esthesia. Therefore, a shape memory prosthesis (SMP) is proposed to shorten operation time and improve fitting through precisely selected length. A reconstructed middle ear is modelled as a two degree of freedom system with nonlinear shape memory element. Finding advisable periodic and undesirable a periodic and irregular behaviour in various temperature is the main aim of the paper. Results of the study should give an answer whether SMP can be useful in medical practice and should also explain dynamics of the middle ear with SMP. The properties of the shape memory prosthesis, in the form of helical spring, are described here by a polynomial dependence. Firstly, free vibrations are investigated and equilibrium points, next forced vibrations are studied under different parameters of external excitations and temperature range. Bifurcation analysis and stability of periodic solutions are performed in order to reveal the system behaviour. Finally, interesting dynamical findings of chaotic vibrations pure regular and regular oscillations with fluctuation are presented. However, from practical point of view only harmonic response of the stapes is advisable. That can be achieved at the normal temperature of a human body only for small excitation amplitude.

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“…In [18,19], double exponential reaching law with variable coefficient was combined with FNTSM manifold to improve the convergence rate during reaching and sliding phase. More improved TSMC algorithms and their applications can be found in the literature [20][21][22][23][24]. All the aforementioned works have two drawbacks.…”

Section: Introductionmentioning

confidence: 99%

Finite‐Time Tracking Control for a Class of MIMO Nonlinear Systems with Unknown Asymmetric Saturations

2017

Mathematical Problems in Engineering

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This paper addresses the problem of finite-time tracking control for multiple-input and multiple-output (MIMO) nonlinear systems with asymmetric saturations. A systematic approach is proposed to eliminate the effects of unmeasured external disturbances and unknown asymmetric saturations. In the proposed control strategy, a terminal sliding mode disturbance observer is provided to estimate the augmented disturbance (which contains the unknown asymmetric input saturation and external disturbance). The approximation error of the augmented disturbance can converge to zero in a fixed finite-time interval. Furthermore, a novel finitetime tracking control algorithm is developed to guarantee fast convergence of the tracking error. Compared with the existing results on finite-time tracking control, the chattering problem and the input saturation problem can be solved in a unified framework. Several simulations are given to demonstrate the effectiveness of the proposed approach.

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Continuous Nonsingular Terminal Sliding-Mode Control of Shape Memory Alloy Actuators Using Time Delay Estimation

Cited by 197 publications

References 48 publications

Control of Robot Manipulators Using Time-Delay Estimation and Fuzzy Logic Systems

Control of Robot Manipulators Using Time-Delay Estimation and Fuzzy Logic Systems

An influence of temperature on reconstructed middle ear with shape memory prosthesis

Finite‐Time Tracking Control for a Class of MIMO Nonlinear Systems with Unknown Asymmetric Saturations

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