Nonlinear dynamical control systems
Nonlinear dynamical control systems
Sliding observers for robot manipulators
Automatica (Journal of IFAC)
VSS theory-based parameter identification scheme for MIMO systems
Automatica (Journal of IFAC)
Variable Structure and Lyapunov Control
Variable Structure and Lyapunov Control
Designing a mobile robot used in services area
ROCOM'11/MUSP'11 Proceedings of the 11th WSEAS international conference on robotics, control and manufacturing technology, and 11th WSEAS international conference on Multimedia systems & signal processing
Cycloid Reducers Study Applied on Orientation Mechanism
RVSP '11 Proceedings of the 2011 First International Conference on Robot, Vision and Signal Processing
Brief A VSS identification scheme for time-varying parameters
Automatica (Journal of IFAC)
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The present paper will impose a driving strategy for a particular nonlinear system, for example for a robot consists of a single segment, which has a flexible hinge. Transmission is more accurate, with a line size of the input provided by engine torque. Because of the robot arm speed can not be measured accurately one estimate the desired state through an Observer system. System that is intended to be driven is nonlinear, more exactly an affine system with a mono-variable type with uncertainties of some parameters and also of a state functions. It is known that the robustness to model parameter uncertainties and external disturbances of the closed loop can be achieved with a variable structure controller. Maintaining the system on a sliding surface weakens the influence of the uncertainties in the closed loop performances and quickly leads to an equilibrium point.