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The problems of stochastic stability and sliding mode control for a class of linear time-delay systems with stochastic jumps are considered in this paper. The jumping parameters appeared in the system matrices are modelled as a continuous-time, discrete-state homogeneous Markov process with right continuous trajectories taking values in a finite set. Sufficient conditions are proposed to guarantee...
This work presents a newly developed six-axis magnetic suspension stage for precision motion control. The designed travel volume is 4/spl times/4/spl times/2 mm in translation and 1/spl deg//spl times/1/spl deg//spl times/2/spl deg/ in rotation. A dynamic model of the feedback linearized and uncoupled stage is developed for the purpose of motion control. Model parameter variations are demonstrated...
The problem of designing a robust dynamical controller for solving the tracking control problem for a flexible-link manipulator is studied. The design methodology is based on construction of a two-time scale dynamical motion of the closed-loop system. It is shown that for a sufficiently small perturbation parameter associated with the dynamical controller consisting of high order derivatives of the...
In this paper, we present a robust adaptive control system designed for three degree-of-freedom linear motion ultra accurate (Sawyer) stepper motors. Such motors are commonly used in the semiconductor industry for wafer-probing and in automated assembly. A detailed model of the motor is developed. A controller is designed for the motor that is robust to parametric uncertainties in the model and achieves...
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