Sliding mode control of a discrete system
Systems & Control Letters
System identification (2nd ed.): theory for the user
System identification (2nd ed.): theory for the user
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Increasing the precision of multichannel measurement systems requires a minimum execution time to select and analyze many probes, accessible from a deposit located inside the measurement system. Mobile robot Pioneer3 handles all the movements of selected probes between the deposit and measurement stand. Sliding-mode control of the robotic manipulator, and fuzzy techniques for trajectory tracking, are used for a minimum manipulation time and higher security in selection and placement of probes. The dynamical model of the mobile robot with one pair of active wheels, time-varying mass and moment of inertia have been used in sliding-mode control. Two closed-loop, on-line parameter estimators have been designed to achieve robustness against parameter uncertainties. Two sliding-mode adaptive controllers corresponding to angular and translation motion have been designed.