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Sliding mode for detection and accommodation of computation time delay fault
(Elsevier B.V., 2009-10-01)
Computation time delay in digital control systems reduces its robustness as well as degrades its performance. In this paper, the computation time delay is assumed to be constant and smaller than the sampling time and is ...
Reactive Sliding-Mode Algorithm for Collision Avoidance in Robotic Systems
(Institute of Electrical and Electronics Engineers, 2013-01)
This brief presents a reactive reference conditioning algorithm for robot collision avoidance based on geometric invariance and sliding-mode (SM) ideas. First, constraints are defined in terms of the measurements given by ...
Hopf and Homoclinic bifurcations on the sliding vector field of switching systems in R3: A case study in power electronics
(2017-05-15)
In this paper, Hopf and homoclinic bifurcations that occur in the sliding vector field of switching systems in R3 are studied. In particular, a dc–dc boost converter with sliding mode control and washout filter is analyzed. ...
Second-order sliding mode observer for multiple kinetic rates estimation in bioprocesses
(Elsevier, 2013-09)
Specific kinetic rates are key variables regarding metabolic activity in bioprocesses. They are non-linear functions of concentrations and operating conditions and therefore of difficult access for process control. In this ...
Tracking control of robot manipulators using second order neuro sliding mode
(2009)
Few works on neural networks-based robot controllers address the issue of how many units of neurons, hidden layers and inputs are necessary to approximate any functions up to a bounded approximation error. Thus, most ...
Adaptive neural sliding mode compensator for a class of nonlinear systems with unmodeled uncertainties
(Elsevier, 2013-09)
This paper addresses the problem of adaptive neural sliding mode control for a class of multi-input multi-output nonlinear system. The control strategy is an inverse nonlinear controller combined with an adaptive neural ...
Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm
(Institute of Electrical and Electronics Engineers, 2016-06)
This work presents a neuro-adaptive control method in sliding mode control designed in discrete time for SCARA robot arm. The proposed control structure is based on neuro-adaptive sliding mode control to adjust dynamics ...
Sliding Mode Control for Trajectory Tracking of a Non-holonomic Mobile Robot using Adaptive Neural Networks
(Romanian Society of Control Engineering and Technical Informatics, 2014-10)
In this work a sliding mode control method for a non-holonomic mobile robot using an adaptive neural network is proposed. Due to this property and restricted mobility, the trajectory tracking of this system has been one ...
Integrated sliding-mode algorithms in robot tracking applications
(Elsevier, 2012-08)
An integrated solution based on sliding mode ideas is proposed for robotic trajectory tracking. The proposal includes three sliding-mode algorithms for speed auto-regulation, path conditioning and redundancy resolution in ...
Sliding mode reference coordination of constrained feedback systems
(Hindawi Publishing Corporation, 2013-12)
This paper addresses the problem of coordinating dynamical systems with possibly different dynamics (e.g., linear and nonlinear, different orders, constraints, etc.) to achieve some desired collective behavior under the ...