Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

164
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
164
Controller Configurations01:22

Controller Configurations

139
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
139
PD Controller: Design01:26

PD Controller: Design

315
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
315
PI Controller: Design01:24

PI Controller: Design

424
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
424
Time and frequency -Domain Interpretation of PI Control01:27

Time and frequency -Domain Interpretation of PI Control

180
Proportional-Integral (PI) controllers are essential in many control systems to improve stability and performance. They are commonly used in everyday devices like thermostats to enhance system damping and reduce steady-state error. When the zero in the controller's transfer function is optimally placed, the system benefits significantly in terms of stability and accuracy.
Acting as a low-pass filter, the PI controller slows the system's response and extends settling times. This requires...
180
Time and frequency -Domain Interpretation of Phase-lead Control01:24

Time and frequency -Domain Interpretation of Phase-lead Control

123
Phase-lead controllers are commonly used in various control systems to enhance response speed and stability. Adjusting the brightness on a television screen offers a practical example of phase-lead control. When contrast is enhanced, a phase-lead controller is employed. Mathematically, phase-lead control is identified when the first parameter is smaller than the second.
The design of phase-lead control involves the strategic placement of poles and zeros to balance steady-state error and system...
123

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

The history, development and current status of isotretinoin: a review article.

Clinical and experimental dermatology·2025
Same author

Adaptive fixed-time fault-tolerant trajectory tracking control for disturbed robotic manipulator.

PloS one·2025
Same author

Bat optimization of hybrid neural network-FOPID controllers for robust robot manipulator control.

Frontiers in robotics and AI·2025
Same author

Adaptive fixed-time TSM for uncertain nonlinear dynamical system under unknown disturbance.

PloS one·2024
Same author

Role of Optimization in RNA-Protein-Binding Prediction.

Current issues in molecular biology·2024
Same author

An Intelligent Attention-Based Transfer Learning Model for Accurate Differentiation of Bone Marrow Stains to Diagnose Hematological Disorder.

Life (Basel, Switzerland)·2023

Related Experiment Video

Updated: Aug 16, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.7K

Design of Adaptive Fractional-Order Fixed-Time Sliding Mode Control for Robotic Manipulators.

Saim Ahmed1,2, Ahmad Taher Azar1,2,3, Mohamed Tounsi1,2

  • 1College of Computer and Information Sciences, Prince Sultan University, Riyadh 11586, Saudi Arabia.

Entropy (Basel, Switzerland)
|December 23, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces adaptive fractional-order non-singular fixed-time terminal sliding mode (AFoFxNTSM) control for robotic manipulators. The novel AFoFxNTSM controller ensures stability and robust performance against uncertainties and disturbances.

Keywords:
adaptive fixed-time controlfractional-order sliding mode controlrobotic manipulatorsunknown dynamics

More Related Videos

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
06:45

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

1.7K
Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

9.2K

Related Experiment Videos

Last Updated: Aug 16, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.7K
Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
06:45

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

1.7K
Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

9.2K

Area of Science:

  • Robotics
  • Control Theory
  • Applied Mathematics

Background:

  • Robotic manipulators often face uncertainties and external disturbances.
  • Existing control methods may struggle with chatter-free, rapid, and stable convergence.

Purpose of the Study:

  • To develop an adaptive fractional-order non-singular fixed-time terminal sliding mode (AFoFxNTSM) control strategy.
  • To address unknown dynamics and external disturbances in robotic manipulators.
  • To ensure fixed-time stability and chatter-free control inputs.

Main Methods:

  • The study builds upon fractional-order non-singular fixed-time terminal sliding mode (FoFxNTSM) control.
  • An adaptive control strategy is integrated with FoFxNTSM to create the AFoFxNTSM controller.
  • Lyapunov analysis is employed to demonstrate closed-loop system stability.
  • Simulations are performed on a PUMA 560 robot model.

Main Results:

  • The proposed AFoFxNTSM control scheme demonstrates rapid fixed-time convergence.
  • The controller provides non-singularity and chatter-free control inputs.
  • Lyapunov analysis confirms the fixed-time stability of the closed-loop system.
  • Simulations validate the effectiveness of the AFoFxNTSM controller on a PUMA 560 robot.

Conclusions:

  • The AFoFxNTSM control is an effective strategy for uncertain robotic manipulators.
  • The controller offers robust performance against disturbances and uncertainties.
  • The method ensures stable and efficient operation within a fixed time.