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SLIDING-MODE ADAPTIVE CONTROL OF PIONEER 3-DX WHEELED MOBILE ROBOT
Discrete-time Pioneer 3-DX model sliding-mode adaptive control on-line parameter estimation
2010/1/11
Parameter identification scheme and discrete-time adaptive sliding-mode controller applied to Pioneer 3-DX wheeled mobile robot (WMR) are presented in this paper. The dynamical model for mobile robot ...
Discrete-Time Sliding-Mode Control of Uncertain Systems with Time-Varying Delays via Descriptor Approach
Discrete-Time Sliding-Mode Control Uncertain Systems Time-Varying Delays Descriptor Approach
2009/9/7
This paper considers the problem of robust discrete-time sliding-mode control (DT-SMC) design for a class of uncertain linear systems with time-varying delays. By applying a descriptor model transform...
Aggregation, Foraging, and Formation Control of Swarms with Non-Holonomic Agents Using Potential Functions and Sliding Mode Techniques
Formation Control Non-Holonomic Agents Potential Functions Sliding Mode Techniques
2009/7/28
In this article we consider the aggregation, foraging, and formation control of swarms whose agents are moving in 2-dimensions with non-holonomic unicycle agent dynamics. We approach these problems us...
考虑摩擦和参数不确定的平面五杆机构控制（Nonlinear Friction Compensation of Planar 5-bar Parallel Mechanism with Time Variable Parameters Using Sliding Mode Control）
平面并联机构 关节摩擦 滑模变结构控制
2009/5/22
建立了机构运动副摩擦的数学模型，将关节接触面间的作用力转换为理想约束力与摩擦力矩。将摩擦力矩视为外加非保守力，应用简化模型法建立了包含关节非线性摩擦的平面并联五杆机构的动力学模型。基于滑模变结构理论设计了该模型考虑参数不确定性的鲁棒轨迹跟踪控制器，并证明了其稳定性。实验和检测结果表明所建动力学模型正确，所设计的控制器对机构中的非线性摩擦力有较好的补偿效果并具有较强的鲁棒性。
Sliding-Mode Control of Synchronous Reluctance Motor
Dynamic Simulation MATLAB, PWM-inverter Reluctance Machine
2010/2/2
This paper presents a controller design technique for
Synchronous Reluctance Motor to improve its dynamic performance
with fast response and high accuracy. The sliding mode control is the
most attr...
ROBUST DISCRETE-TIME ADAPTIVE SLIDING MODE WMR TRAJECTORY TRACKING AND PARAMETER IDENTIFICATION
discrete-time robust adaptive sliding mode controller wheeled mobile robot
2010/1/12
In this paper a discrete-time adaptive sliding mode controller for three wheels mobile robot (WMR) is presented. The dynamical model with time-varying mass has been taken into account. The sliding-mod...