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In this paper, we propose a method for designing the sliding mode based tracking control of a mobile robot in Cartesian coordinates with an approach angle and an improved reaching law. In the proposed method, to solve the singular point problem, we consider the kinematics in Cartesian coordinates instead of the kinematics in polar coordinates. We consider the bounded disturbances of the dynamics....
In this paper, we propose a fault detection observer (FDO) and an adaptive fault diagnosis observer (AFDO) for linear system with separated faults and disturbance. First, the FDO, which is designed by using the characteristic of output error, determines that the actuator and/or sensor faults have occurred when the output error is more larger than the given error boundary. Second, the AFDO which estimates...
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