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This paper presents a novel control strategy based on adaptive sliding mode control. The proposed adaptation law allows adjusting the control gain by taking into account the effects of bounded uncertainties and perturbations with unknown bounds. The main advantage of the proposed adaptive sliding mode control algorithm is in adjusting the control gain without its overestimation in the presence of...
Computation of contact forces is essential for the simulation of mechanical systems with unilateral constraints, like bipedal robots. Most methods are based on the rigid body assumption. They can be categorized into constraint-based and penalty-based approaches. In the former, contact forces are computed by solving an optimization problem based on linear or nonlinear complementarity conditions. Unfortunately,...
This paper presents design, modelization and control of a new electropneumatic test bench. This latter has been designed for many applications given that it allows high accuracy control and dynamic perturbation force. In fact, the main originality (with respect to previous test benchs) of this test bench is that it is composed by two actuators, the first one being controlled in position, the second...
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