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Flexible links in a robot arm often experience unwanted vibrations at the end points typically due to elastic deflections and system disturbances. This leads to reduced endpoint positioning accuracy, as well as negatively affects the overall control performance of the robot arm. Typical control strategies introduce active damping to reduce oscillations at the robot arm end points, whereas other methods...
Analyzing the behavior of nonlinear oscillators has revealed a wide range of phenomena specific to nonlinear systems. The Duffing oscillator raises a particular interest and has been studied frequently. Starting from a robust control method for chaotic Duffing-Holmes type oscillators, this paper analyzes the possibility of extending the method for other types of Duffing oscillators, with numerical...
Zero-order holder discretization effects in sliding mode control systems with an input delay are studied. Conditions for the existence of periodic solutions are derived and the existence of periodic steady states is investigated. The influence of the discretization step and the delay on the period and the amplitude of steady state oscillations is studied. Simulation results are presented to show the...
This paper deals with adaptive tracking for discrete-time MIMO nonlinear systems in presence of disturbances. A Particle Swarm Optimization (PSO)-Gain selection is used to improve a discrete-time high order sliding mode control law. The paper also includes the respective stability analysis, for the whole system with a strategy. In order to show the applicability of the proposed scheme, simulation...
This paper presents an observer-based hybrid fuzzy cerebellar model articulation controller (CMAC) neural network control with a supervisory controller for a class of uncertain chaotic systems. This proposed control system is integrating sliding mode control (SMC) theory and CMAC neural network into fuzzy controller design. The total states of the chaotic system are not assumed to be available for...
This paper is concerned with sliding mode control of offshore steel jacket platforms subject to nonlinear wave-induced forces. Two sliding mode control schemes are proposed to reduce the oscillation amplitudes of the platforms. One scheme is that a conventional sliding mode controller (SMC) is designed, under the SMC the oscillation amplitudes of the platform are effectively reduced; however, a very...
A sliding mode control is developed to solve the tracking control problem for an inertia wheel pendulum. The desired trajectory is centered at the upright position where the open-loop system becomes a non-minimum-phase system. As a first step towards the solution of the tracking control problem is the reference trajectory generation where we develop a reference model, based on the two-relay controller,...
A robust sliding mode congestion control algorithm is proposed to solve the problem of congestion control in TCP networks. Based on the TCP networks congestion control model, an asymptotically stable sliding surface is designed by means of linear matrix inequality (LMI). The sliding surface can compensate for the effect of the uncertainties in TCP networks. In addition, a novel reaching condition...
This paper deals with the tracking control of robot manipulators. Synthesizing the strong robustness of the sliding mode control and the good flexibility of PD-INP-D control, Proposed is a simple class of robot tracking controller consisting of a linear sliding mode term plus a linear PD feedback plus an integral action driven by an NP-D controller. By using Lyapunov's direct method and LaSalle's...
This paper deals with the tracking control of rigid robot manipulators. By synthesizing the strong robustness of sliding mode control and the good flexibility of PD-NP-INP-D control, Proposed is a simple class of robot tracking controller consisting of a linear sliding mode term plus a linear PD feedback plus a bounded nonlinear term of position errors plus an integral action driven by an NP-D controller,...
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