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A continuous sliding mode controller is developed for double integrator systems with constant unknown control direction. Additionally, the system is assumed to be subjected to unknown non-vanishing disturbances. The controller yields finite time convergence to hyper sliding surface and guarantees that the origin of the system is exponentially stable. Simulation and experimental results are provided...
Human-autonomy sensor fusion is an emerging technology with a wide range of applications, including object detection/recognition, surveillance, collaborative control, and prosthetics. For object detection, humans and computer-vision-based systems employ different strategies to locate targets, likely providing complementary information. However, little effort has been made in combining the outputs...
A novel sliding mode control (SMC) strategy is presented in this paper for a class of parallel underactuated nonlinear systems, where a single scalar control input simultaneously affects multiple states. A key challenge in the control design for this class of systems is that standard backstepping-based approaches cannot be applied. This difficulty is mitigated through innovative selection of a sliding...
In this paper we suggest self-reconfigurable control for dual-quaternion systems with unknown control direction. The technique is based on the creation of multiple equilibrium surfaces for the system in the extended state space. We describe the mathematical tools of dual quaternions and technique required to design such system. Examples are presented to illustrate the proposed method.
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