Control of Nonlinear Mechatronic Systems with Context-Dependent Varying Dynamics

In this paper, a novel approach to nonlinear control techniques based on material properties of handling objects in a class of nonlinear actuators is presented. A modified nonlinear fractional order sliding mode control is proposed with adaptation mechanisms to various material densities. The application domain of these techniques are well suited in agricultural, heavy-duty machines, including those featuring flexible joint manipulators. Experimental data indicates the feasibility of the proposed techniques in practice.

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