With the development of robotics, it will be possible for fracture reduction robots to replace doctors in performing surgery operations. The accuracy and safety by robot is important. In order compensate various uncertainties nonlinear problems impedance control system, this paper proposes a fuzzy adaptive sliding mode robot, which includes force residual observer (FRO) controller (FASMC). FRO ...

This article presents a fuzzy sliding-mode control scheme for a class of Takagi-Sugeno (T-S) fuzzy which are subject to norm-bounded uncertainties in each subsystem. The proposed stabilization method can be adopted to explore T-S uncertain fuzzy systems (TSUFS) with various local control inputs. Firstly, a new design is proposed to transform TSUFS into sliding-mode dynamic systems.In addi...

A DC servomotor position control system using a Fuzzy Logic Sliding mode Model Following Control or FLSMFC approach is presented. The FLSMFC structure consists of an integrator and variable structure system. The integral control is introduced into it in order to eliminated steady state error due to step and ramp command inputs and improve control precision, while the fuzzy control would maintai...

This paper discusses a model reference adaptive sliding-mode control of the sensorless vector controlled induction motor drive in a wide speed range. The adaptive speed controller uses on-line trained fuzzy neural network, which enables very fast tracking of the changing speed reference signal. This adaptive sliding-mode neuro-fuzzy controller (ASNFC) is used as a speed controller in the direct...

It is well known that robotic manipulators are highly nonlinear coupling dynamic systems. It is difficult to establish an appropriate mathematical model for designing a model-based controller. The model-free feature of fuzzy logic control strategy was employed to design robotic motion controller. However, there is no guide rule for designing the fuzzy rule bank and parameters, it still needs ti...

This paper proposes a new adaptive controller for the robust control of a grid-connected multi-DG microgrid (MG) with the main aim of output active power and reactive power regulation as well as busbar voltage regulation of DGs. In addition, this paper proposes a simple systematic method for the dynamic analysis including the shunt and series faults that are assumed to occur in the MG. The pres...

We propose a terminal sliding mode control (SMC) law based on adaptive fuzzy-neural observer for nonaffine nonlinear uncertain system. First, a novel nonaffine nonlinear approximation algorithm is proposed for observer and controller design. Then, an adaptive fuzzy-neural observer is introduced to identify the simplified model and resolve the problem of the unavailability of the state variables...