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In this paper, a class of time delayed nonlinear systems is considered where both parametric uncertainty and structural uncertainty are involved. The delay is time-varying and the unknown parameters are embedded in the system nonlinearly. The only limitation on the structural uncertainty is that its bound is known. A sliding mode observer is proposed to estimate the system state and an adaptive law...
Output tracking in SISO fully linearizable nonlinear systems with a time delay is considered using integral sliding mode control based technique. Using Padé approximations for the delay, the actual delayed output is replaced by its approximation, by which the problem is reduced to the tracking of a nonminimum phase control system. This system is transformed into a corresponding state tracking problem,...
This paper presents a delay compensation technique for nonlinear teleoperators by developing a predictor type sliding mode observer (SMO) that estimates future states of the slave operator. Predicted states are then used in control formulation. In the proposed scheme, disturbance observers (DOB) are also utilized to linearize nonlinear dynamics of the master and slave operators. It is shown that utilization...
This paper presents a novel bilateral teleoperation algorithm for n degree of freedom nonlinear manipulators connected through communication networks with time delays. Central to this approach is the use of second order sliding mode unknown input observers for estimating the external forces acting on the manipulators. The use of these observers removes the need for both velocity and force sensors,...
A fully linearizable single-input-single-output relative-degree n system with an output time delay is considered in this paper. Using the approach of Pade approximation, system center approach, and second-order sliding-mode (SM) control, we have obtained good output tracking results. The Smith predictor is used to compensate the difference between the actual delayed output and its approximation. A...
The anti-lock braking system is an important subsystem in the brake system. Using the quarter car model, we derive the dynamic system model considering the time delay on the brake torque input. A nonlinear controller with full state feedback is proposed to maintain the wheel slip ratio at the desired slip ratio. Since, in practice, we cannot measure all the state variables, we introduce an output...
In this paper, a novel sliding mode observer-based fault estimation (FE) method is presented for a class of the nonlinear networked control systems (NCSs) with Markov transfer delays. First, the nonlinear NCS is modelled by a nonlinear discrete Takagi-Sugeno (T-S) fuzzy model using Euler approximate method. Then, a sliding mode based nonlinear discrete observer is proposed such that the sliding motion...
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