Model independent PD-SMC method for bionic eye systems
Bin Liu, Menghua Zhang, Xin Ma, Rui Qi Song, Xuewen Rong, Xincheng Tian, Guohui Tian, Yibin Li · 2017
In this paper, a model independent PD with sliding mode control (PD-SMC) method for the bionic eye system is proposed. The designed controller is model independent, and has the advantages of both simple structure, easy design of PD controller and strong robustness of SMC method with respect to system parameter uncertainty. Lyapunov techniques and LaSalle's invariance theorem are used to support the theoretical derivations. Simulation results are illustrated to verify the superior tracking performance of the proposed PD-SMC method.