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Tele-operation is a kind of semi-autonomous system, with the objective of allowing human to control a device in remote location. This paper proposes such a system implemented with Omni Bundle haptic device and Q-Bot 2 Mobile Robot platforms connected in a master-slave configuration respectively. The paper also provides modelling, trajectory tracking controller for both robots and communication algorithm...
This paper describes the development of a simple sliding mode controller (SMC) and a relay enhanced multi loop PI controller for multi input multi output (MIMO) processes. In the decentralized SMC design, convergence property of the closed-loop system is guaranteed by means of satisfying a sliding condition. For relay-enhanced design, the control system employs a relay in series with the controller,...
In this paper, an Adaptive PID with dynamic sliding mode control technique is proposed to control the speed of a separately excited DC motor. Speed control is done using Sliding mode control (SMC) and Dynamic sliding mode control techniques and to overcome their drawbacks the new controller is designed. The performance of the designed controller is evaluated via MATLAB simulations using linear model...
This paper analyzes the effectiveness of the reaching law approach for sliding mode control of discrete time systems. The method is extended for sliding mode control for multi-input multi-output (MIMO) systems. Modified reaching law for reducing the chattering is proposed. The performance of the proposed controller is analyzed by carrying out simulation studies on MIMO systems. The performance of...
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