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This paper seeks to achieve simple, yet efficient modelling and control scheme for a permanent magnet stepper motor wherein a control law is developed based on sliding mode that provides robustness against uncertainties, parameter variations and perturbations for accurate trajectory tracking of motor position and current. The stability analysis guarantees the asymptotic stability of the origin in...
This paper focuses on simple heave dynamics of helicopter UAV for autonomous operations to achieve efficient control scheme based on sliding mode methodology for accurate altitude tracking under both matched and unmatched disturbances. Under fast changing dynamics of the UAV, a control law is developed that provides robustness against uncertainties, parameter variations and perturbations for accurate...
This paper seeks to achieve an efficient control scheme that can be applied to industrial pick and place robotic manipulators. The mathematical model of this industrial pick and place system is based on the concept of an inverted pendulum on a moving cart whose movement is restricted in horizontal direction. Inverted pendulum systems are often used to model robotic systems. A sliding mode control...
This paper seeks to develop simple yet efficient modelling and control scheme for robotic manipulators in joint space wherein a control law is developed based on sliding mode that provides robustness against uncertainties and perturbations and a stability analysis guarantees the asymptotic stability of origin. Given the bounds of disturbance and a switching manifold that enforces trajectory tracking,...
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