RESUMEN
Due to the disturbance of couplings, the anthropomorphic finger lacks sufficient stability and accuracy in joint motion control, which further affects the performance of complex grasping and operating for anthropomorphic hands. In order to obtain stable and accurate joint motion control effect, an anthropomorphic finger control strategy is proposed for an anthropomorphic finger driven by pneumatic artificial muscles (PAMs) in this paper. A nonlinear extended state observer (NESO) is presented to observe the disturbance of couplings for the anthropomorphic finger. An integral sliding mode controller (ISMC) is proposed to realize joint motion control and improve steady state performance. The convergences of the NESO and the ISMC are demonstrated by Lyapunov methods. Furthermore, experimental results illustrate the validity of the proposed control strategy.
RESUMEN
Exploring the drift maneuver could extend the dynamic control envelope and application range of autonomous vehicles. This paper presents a novel autonomous drift controller for a distributed drive electric vehicle, whose configuration provides more possibilities for drift. In the upper-level controller, a control channel recombination method transforms the over-actuated system into a standard square system, which is compatible with the proposed fuzzy-integral sliding-mode controller considering the input coupling and uncertain disturbance of the system to bring the vehicle into a marginally stable condition. The operation of the lower-level controller considers the dynamic characteristics of actuators and tires, and distributes the "virtual control input" among each physical actuator. This controller's performance with fast response and strong robustness was proved through the bench test.