application of sliding mode control to robotic systems

... discretization of sliding mode control Automatica 42, 771–776 (2006) Galias, Z., Yu, X.: Euler’s discretization of single input sliding mode control systems IEEE Transactions on Automatic Control 52, ... sliding modes, differentiation and output-feedback control International Journal of Control 76, 924–941 (2003) 14 Wang, B., Yu, X., Chen, G.: Discretization behaviors of sliding mode control systems ... structure control In: Proc 2000 Asian Control Conference, Shanghai, China (2000) 11 Koshkouei, A.J., Zinober, A.S.I.: Sliding mode control of discrete–time systems ASME Journal of Dynamic Systems, ...

Ngày tải lên: 01/07/2015, 10:07

... the control of touch voltage and stray current Meanwhile, the improvement of touch voltage or stray current tends to deteriorate the other The return-circuit optimisation is thus composed of two-stage ... on different Pareto fronts Competitive evolution consists of selecting subsets of points with respect to their ranks and moving them toward the Pareto-optimal set Test analysis of the proposed ... relationship between the vector of weights and the Pareto front is such that a uniform spread of weight parameters rarely produces a uniform spread of points on the Pareto front [21] Often, all the points...

Ngày tải lên: 30/09/2015, 13:49

... nonlinear uncertain systems Int J Contr 74, 718–731 (2001) Bartolini, G., Pisano, A., Punt, E., Usai, E.: A survey of applications of second order sliding mode control to mechanical systems Int J Contr ... (1998) Bartolini, G., Ferrara, A., Levant, A., Usai, E.: On Second Order Sliding Mode Controllers In: Young, K.D., Ozguner, U (eds.) Variable Structure Systems, Sliding Mode and Nonlinear Control ... and the frequency of chattering via application of the DF method is proposed • A methodology of exact analysis of the amplitude and the frequency of chattering via application of the modified Tsypkin’s...

Ngày tải lên: 01/07/2015, 09:18

... absolute value of the imaginary part of the LPRS J(ω) is a monotone decreasing function of frequency ω, as the sign of its derivative is negative For the proof of the monotonicity of ReJ(ω), let ... with the presence of parasitic dynamics Analysis of Closed-Loop Performance for Sliding Mode Control Systems 59 or switching imperfections, and the other one is due to the effect of an external noise ... parts of the LPRS J(ω) corresponding to that transfer function are monotone functions of frequency ω Proof Since |ReWl (jω)| and |ImWl (jω)| are said to be monotone decreasing functions of ω within...

Ngày tải lên: 01/07/2015, 09:37

... Usai, E.: A survey of applications of secondorder sliding mode control to mechanical systems Int J Contr 76, 875–892 (2002) 10 Levant, A.: Principles of 2 -sliding mode design Automatica 43, 576–586 ... equivalent control is available, as it often happens in sliding mode control applications, see [17] According to Theorem 4, if first order sliding mode control methods cannot give rise to ambiguous ... weakening of the assumption f ∈ C is also possible Regularization of Second Order Sliding Mode Control Systems 15 Sliding Error Estimates In this section we consider sliding mode control systems...

Ngày tải lên: 01/07/2015, 10:09

... of thyristor In the next section, we introduce a power electronic structure to control firing angle α of thyristor Power electronic structure for controlling firing angle α of thyristor 2.1 Controlling ... pulses to fire thyristor valves - Pulse Amplifier: to amplify both sample pusles and controlling pulses to fire desired thyristor valves - Isolator: to isolate the power circuit from controlling ... synchronized with controlling voltage signal to fire thyristor valves in need - Determining controlling pulses according with sample pulses CPG (Controlling Pulses Generator): to issue controlling...

Ngày tải lên: 05/03/2014, 14:20

... of nonlinear systems For the tracking control tasks of a class of nonlinear uncertain systems with two cascaded subsystems, the sliding mode control and nonlinear H ∞ control are integrated to ... of the equilibrium can be adjusted to vary from the saturation type to the signum type In the second part of the thesis, the issues on the applications of sliding mode control to multi-link robotic ... shaped sliding mode observer is further developed to facilitate the implementation of torque learning control In Chapter 9, sliding mode control of DC servo mechanisms is analyzed in the presence of...

Ngày tải lên: 17/09/2015, 17:18

... Bộ công cụ GUI tools bao gồm thành phần: FIS Editor, Membership Function Editor, Rule Editor, Rule Viewer, Surface Viewer, ANFIS Editor FIS Editor FIS Editor hiển thị cho phép thay ... trị output Hình Membership Function Editor MembershipFunction Editor Membership Function Editor chia sẻ thông tin hệ mờ với FIS Editor Membership Function Editor cho phép xây dựng, hiệu chỉnh hàm ... Logic Toolbox cung cấp nhiều dạng hàm liên thuộc khác Rule Editor Rule Editor cho phép thiết lập, hiệu chỉnh quy luật điều khiển (các mệnh đề hợp thành) Rule Viewer Surface Viewer Hình Rule Editor...

Ngày tải lên: 28/12/2015, 19:03

... extended to two risk factors, while the portfolio consists of vanilla options on stocks 3.1 One Risk Factor To facilitate a better understanding of the behaviour of generalized Pareto distribution ... Equity stocks The risk factor under consideration is the one-day log-returns of the stock prices 3.1.1 UBS stocks We start with the analysis of UBS stock returns, a case of a highly liquid stock ... spread of the bond to LIBOR in USD Because of the availability of data we consider the spread of the bond to be the spread of the rating class it belongs to (Moody's Aa3) We map the P&L to a multitude...

Ngày tải lên: 27/04/2013, 11:17

... EVOLUTION OF GSM AND CDMAONE TO 3G SYSTEMS Figure 6.16: Slot and frame structure of the primary common control physical channel 30 kb/s to 1920 kb/s, corresponding to spreading factors of 256 to 4, ... codes to prevent the crest factor, i.e the ratio of the peak -to- mean transmitted power, from becoming too high The crest factor is allowed to be up to 18 dB We recall that in the presence of multiple ... quasi-religious attitudes 406 CHAPTER EVOLUTION OF GSM AND CDMAONE TO 3G SYSTEMS of engineers towards methods of multiple access The meagre spectrum of 1.25 MHz at the top of the AMPS band was just about adequate...

Ngày tải lên: 23/12/2013, 17:15

... concentration of demand for a narrow segment of the market and is a strong indicator of the propensity of demand to be driven by a “star system” logic Thus, the market share of the top ten films in the total ... shot Number of foreign languages Number of different language of the top ten Number of foreign languages in the top ten HHI distribution of films produced by language HHI distribution of top ten ... discusses the relevance of the model as it applies to the understanding and assessment of cultural diversity, and then introduces new elements to improve the ability of the model to correctly estimate...

Ngày tải lên: 07/03/2014, 15:20

Ngày tải lên: 08/03/2014, 18:20

... rate % Fig Moving average of the multi-agent game’s success rate for the real price-series of Fig (top left) and a random walk price-series (top right) Bottom: histogram of individual agents’ time-averaged ... with a historic probability of winning ≥ r [3] We focus on the regime where the number of strategies in play is comparable to the total number available, and where r ∼ 0.5 In addition to producing ... should be approximately proportional to S0 −S1 = S0−1 In addition, the number of agents taking part in the game at each timestep will be related to the total number of active strategies S0 + S1 = S0+1...

Ngày tải lên: 23/04/2014, 16:11

... objective is to map the data corresponding to the multi-channel neural spikes of a monkey to the 3D positions of its arm positions The predicted position of the hand of the monkey is used to control ... forehead), to generate a series of activations to open/close a gripper, and to move it to pre-defined positions, thus allowing people with severe motor disability to execute activities of daily ... contraction of the human-body muscles They are currently being used to command robotic devices like manipulators (robotic arms and hands) and mobile robots (robotic wheelchairs) The goal is to develop systems...

Ngày tải lên: 19/06/2014, 10:20

... quantification of virus load as a measure of replication of HBV in patients with chronic liver disease Prior to the development of the polymerase chain reaction (PCR) a number of hybridisation ... virological assessment of the successes of the treatment [20] The assay described here could have such a role The lack of total clearance of HBV DNA is most likely due to short-term treatment ... Quantification of HBV DNA may be a more useful measure than HBeAg as genetic variants of HBV may continue to replicate at high level without secreting HBeAg Quantification of HBV DNA can be useful to assess...

Ngày tải lên: 20/06/2014, 01:20

... software in Visualization Toolkit (VTK, Kitware Inc., New York, USA) was used to register the points with each of the remaining subject models (Figure 6, Figure 7) The closest points to each of ... training set of landmark data using the Figure Clavicle models Source and target clavicle models mean landmarks and a set of eigenvectors which represent the linearly independent modes of variation ... 4.2 percent of variation is attributed to the change in width and thickness Although these four modes attribute to almost 87 percent of clavicular variation, a single mode attributes to 70.5 percent...

Ngày tải lên: 20/06/2014, 04:20

... Bartoszewicz Institute of Automatic Control, Technical University of Łódź Poland XI Part Sliding Mode Control in Power Electronics Sliding Mode Control and Fuzzy Sliding Mode Control for DC-DC Converters ... Non-Adaptive Sliding Mode Controllers in Terms of Inertial Quasi-Velocities 255 Przemyslaw Herman and Krzysztof Kozlowski Part Selected Applications of Sliding Mode Control Chapter 15 Force/Motion Sliding ... of Sliding Mode Control 429 Chapter 22 Sliding Mode Control of Second Order Dynamic System with State Constraints 431 Aleksandra Nowacka-Leverton and Andrzej Bartoszewicz Chapter 23 Sliding Mode...

Ngày tải lên: 20/06/2014, 04:20

... with Sliding Mode Control 37 to achieve a mode of the sliding mode control in a certain range of a change of the output variable In order to be such a mode, the following inequalities have to be ... point of view of the sliding mode control, 30 Sliding Mode Control it is good the value of U d to be chosen bigger Of course, the value is limited and has to be considered with the properties of ... speed of a change of the load current So, from the point of view of the sliding mode control, it is good the value of U d to be chosen bigger Concerning the conclusion of the influence of the...

Ngày tải lên: 20/06/2014, 04:20

... operation mode to 61 Sliding Mode Control for Industrial Controllers implement the desired control One of the tools to implement this mode of operation is sliding mode control A block diagram of possible ... small overshoot, sliding mode control can be applied in this field 3.1 The fundamental principle of sliding mode Control Sliding mode control is a control method in changing structure control system ... the switches are at different on-off state, it is suitable to use sliding mode control Traditional sliding mode control is realized by hysteresis control, owing to the switching frequency is fixed...

Ngày tải lên: 20/06/2014, 04:20

... IFC Fig 16 Control of the FC converter The switching device is controlled by a hysteresis comparator U FC 102 Sliding Mode Control B DC-DC Supercapacitors converter control principle To ensure ... connected to the grid, a different DFIG model is considered to conceive the control of each of those two cases, and a rst-order sliding- mode controller is accordingly synthesized for each of them ... has to be equal to zero 3.3 Sliding mode control of the hybrid sources Due to the weak request on the FC, a classical PI controller has been adapted for the boost converter However, because of...

Ngày tải lên: 20/06/2014, 04:20