This note contributes to the technical nature of dynamic surface control (DSC) based on a class of strict-feedback nonlinear systems. The DSC technique prevents the complexity problem in integrator backstepping control (IBC). Yet, the stability results obtained by existing DSCs are conservative, and consequently, cannot fully reveal the technical nature of DSC. By the exploitation of the singul...

in this research, first, kinematic and dynamic equations of a 4-dof 3-link robotic finger are derived using denavit-hartenberg convention and lagrange’s formulation. to model the muscles, several springs and dampers are placed between the finger links. then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

This paper addresses the problem of the fractional sliding mode control (FSMC) for a MEMS optical switch. The proposed scheme utilizes a fractional sliding surface to describe dynamic behavior of the system in the sliding mode stage. After a comparison with the classical integer-order counterpart, it is seen that the control system with the proposed sliding surface displays better transient per...