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A model of a flexible manipulator is developed with considering the geometrical nonlinearity and the effect of gravity. The model can be divided into a flexible dynamic subsystem and a rigid dynamic subsystem, and a decomposed dynamic control (DDC) including flexible dynamic control and rigid dynamic control is proposed for a controller design of the flexible manipulator. The flexible dynamic control...
In this paper, a new variable structure position control law for a Six Phase Induction Machine (6PIM) is proposed. The algorithm based on a time-varying switching line guarantees the existence of sliding mode since the beginning of the shaft motion. Indeed, the surface is initially designed to pass through the initial representative point and subsequently moved towards a predetermined desired surface...
In this paper, a new variable structure position control law for a Six Phase Induction Machine (6PIM) is proposed. The algorithm based on a time-varying switching line guarantees the existence of sliding mode since the beginning of the shaft motion. Indeed, the surface is initially designed to pass through the initial representative point and subsequently moved towards a predetermined desired surface...
This paper presents a robust adaptive algorithm with smooth sliding mode for bilateral control system which necessary uses for achieving in teleoperation. The system uses a hybrid structure to implement simultaneous force and position control, with a two-channel controller. The desired trajectory is the position of a master device manipulated by a human operator, which serves as the reference position...
The main goal of increasing the number of phases in an induction machine is to ensure its performance in all the operating modes such as normal, disturbed and faulted settings. When the induction machine is working under a faulted mode such as one or more phases are missing, this leads to a high torque oscillations and bad tracking behaviour. Designing a suitable control design such as sliding mode...
The main contribution of this paper is a robust and precise position control method based on sliding mode for a pneumatic cylinder. The controller is implemented on a DSP system. The main challenge is the higher accuracy than 10 mum, which can be ensured with wide range of variation of the load (disturbance) and pressure in the entire operation area. The paper describes the nonlinear model of the...
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