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

Relative Motion Analysis - Acceleration01:10

Relative Motion Analysis - Acceleration

358
A slider-crank mechanism converts rotational motion from the crank into linear motion of the slider or vice versa. This mechanism consists of three main parts: the crank, the connecting rod, and the slider. The movement of the slider-crank is an example of general plane motion as the fluctuating angle between the crank and the connecting rod. Consider a segment AB where point A is at the end of the slider and point B is on the diametrically opposite end to point A, on a crack. The variance in...
358
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

488
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
488
Open and closed-loop control systems01:17

Open and closed-loop control systems

740
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
740
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

402
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
402
Feedback control systems01:26

Feedback control systems

308
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
308
Torque Free Motion01:15

Torque Free Motion

482
The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
482

You might also read

Related Articles

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

Sort by
Same author

A prospective, randomized clinical trial comparing plasmakinetic resection of the prostate with holmium laser enucleation of the prostate based on a 2-year followup.

The Journal of urology·2012
Same author

Wnt6 is essential for stromal cell proliferation during decidualization in mice.

Biology of reproduction·2012
Same author

Characteristics of bone tunnel changes after anterior cruciate ligament reconstruction using Ligament Advanced Reinforcement System artificial ligament.

Chinese medical journal·2012
Same author

[Expression and role of urotensin II on the lung of patients with pulmonary hypertension with congenital heart disease].

Zhonghua er ke za zhi = Chinese journal of pediatrics·2012
Same author

A novel class of tRNA-derived small RNAs extremely enriched in mature mouse sperm.

Cell research·2012
Same author

Reciprocal regulation of Akt and Oct4 promotes the self-renewal and survival of embryonal carcinoma cells.

Molecular cell·2012
Same journal

A robust ATUB-Net for bearing fault diagnosis under unbalanced sample scenarios.

ISA transactions·2026
Same journal

Data-driven trajectory tracking control of UAV systems under a novel probability-selection event-triggered mechanism.

ISA transactions·2026
Same journal

Predefined-time affine formation tracking control of unmanned surface vehicles with input saturation via adaptive fuzzy observers.

ISA transactions·2026
Same journal

Adaptive fault-tolerant safety-guaranteed fuzzy event-triggered rendezvous control for heterogeneous USV-UUV systems.

ISA transactions·2026
Same journal

Two-stage maximum likelihood weighted recursive least squares algorithm for nonlinear systems and an application in wind tunnel systems.

ISA transactions·2026
Same journal

Enhancing interpretable soft sensing with embedded hybrid modeling: the GraphTrans approach for industrial processes.

ISA transactions·2026
See all related articles

Related Experiment Video

Updated: Jul 1, 2025

Operation of the Collaborative Composite Manufacturing CCM System
10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

6.6K

Adaptive recursive sliding mode based trajectory tracking control for cable-driven continuum robots.

Yanan Qin1, Qi Chen1, Chengjun Ming1

  • 1School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

ISA Transactions
|March 7, 2024
PubMed
Summary
This summary is machine-generated.

This study introduces an Adaptive Disturbance Observer-Recursive Integral Terminal Sliding Mode Control (ADO-RITSMC) for cable-driven continuum robots. The novel ADO-RITSMC method significantly enhances trajectory tracking control performance.

Keywords:
ADO-RITSMCCable-driven continuum robotsIGWORITSMCTrajectory tracking

More Related Videos

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

11.6K
Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

15.5K

Related Experiment Videos

Last Updated: Jul 1, 2025

Operation of the Collaborative Composite Manufacturing CCM System
10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

6.6K
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

11.6K
Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

15.5K

Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechanical Engineering

Background:

  • Cable-driven continuum robots (CDCRs) present challenges in trajectory tracking due to complex dynamics.
  • Existing control methods often struggle with fast transient response, accuracy, and robustness.

Purpose of the Study:

  • To develop an advanced control strategy for improving the transient response, accuracy, and robustness of CDCR trajectory tracking.
  • To address the effects of uncertain dynamics in CDCRs.

Main Methods:

  • A novel Adaptive Disturbance Observer-Recursive Integral Sliding Mode Control (ADO-RITSMC) is proposed.
  • Recursive Integral Terminal Sliding Mode Control (RITSMC) is utilized for precise error convergence without chattering.
  • An Adaptive Disturbance Observer (ADO) is developed to estimate and compensate for uncertain dynamics.
  • An Improved Grey Wolf Optimizer (IGWO) is integrated into the ADO to enhance estimation accuracy.

Main Results:

  • The ADO-RITSMC method demonstrates superior performance in trajectory tracking control for CDCRs.
  • The proposed control strategy achieves fast transient response and high tracking accuracy.
  • The system exhibits strong robustness against uncertain dynamics and external disturbances.

Conclusions:

  • The ADO-RITSMC is a highly effective control approach for CDCRs, outperforming existing methods.
  • The integration of IGWO significantly improves the estimation of uncertain dynamics.
  • This research contributes to advancing the control capabilities of continuum robots for complex tasks.