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In this paper a sliding mode control algorithm for cable suspended loads subject to acceleration and velocity constraints is presented. The algorithm guarantees the reaching phase elimination. Moreover, it ensures fast and monotonic system error convergence to zero without violating the acceleration and velocity constraints. The proposed method employs a time-varying switching line. At the initial...
Control of underactuated manipulators is an attractive research theme in robotics. One of the reasons is that they become a complex system, so that they cannot be controlled by normal any control methods. These systems also include the properties of nonholonomic systems. One of control methods used for underactuated manipulators is known as a switching control, which selects a stable controller out...
Autonomous control of an articulated steering type vehicle such as a wheel loader, which is usually used at surface mining fields to load mineral resources and rocks, is highly expected for operation cost reduction. A wheel loader is one of heavy machines which is also used for snow removing and/or loading operation at construction fields because of its high mobility. Its steering system is articulated...
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