Adaptive Control of Active Dental Joint

Abstract

In this paper, a PID model-based adaptive robust control method is proposed in order to design a high performance robust controller in the presence of structured (parametric) uncertainties and unstructured uncertainties. The approach improves performance by using the advantages of sliding mode control, adaptive control, and PID controller, while the disadvantages attributed to these methods are remedied by each other. This is achieved without increasing the complexities of the overall design and analysis of the control system (controller). The proposed controller attenuates the effect of model uncertainties from both structured uncertainties and unstructured uncertainties. Thus, transient performance and final tracking accuracy is guaranteed by proper design of the controller. Therefore, asymptotic tracking (or zero final tracking error) can be achieved without using high-gain feedback. The design is conceptually simple and is reliable in applications because of its high performance and strong robustness.