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Design a robust oscillation-free controller for multi input-multi output (MIMO) nonlinear uncertain dynamical system (sensitive dental joint) is the main objective in this research. In this paper, robust sliding mode controller will be selected as a main control technique and linear controller will be design to improve the stability and robustness to control of dental joint. The proposed approach effectively combines of design methods from switching sliding mode controller, and linear Proportional-Integral-Derivative (PID) control to improve the performance, stability and robustness of the sliding mode controller. Conventional sliding mode controller has two important subparts, switching and equivalent. Switching part (discontinuous part) is very important in uncertain condition but it causes chattering phenomenon. To solve the chattering, the most common method used is linear boundary layer saturation method, but this method lost the stability. To reduce the chattering with respect to stability and robustness; linear controller is added to the switching part of the sliding mode controller. The linear controller is to reduce the role of sliding surface slope and switching (sign) function. This controller improves the stability and robustness, reduces the chattering as well and reduces the level of energy due to the torque performance as well.

Research on Oscillation-Free Robust Control for Active Joint Dental Automation