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In this paper, a novel simplex-type adaptive sliding-mode control (ST-ASMC) is presented. An irregular simplex manifold is introduced in stead of the conventional regular one for tuning the control performance. The adaptive control laws modify the irregular simplex control vectors such that the selection of the magnitude and direction of the control vectors can be accomplished automatically. The computer...
Rigid planar space robot is represented as Caplygin system and its base attitude can be stabilized by means of geometric phase. However, in cases when flexible arms are used for control of base attitude, inherent resonance modes are excited and instability is resulted. In this study we propose a stabilized controller is synthesized as adaptive tracking control system convined with sliding mode control...
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