Variable structure control

T1 - Adaptive variable structure control and applications to friction compensation AU - Sankaranarayanan, Sivakumar PY - Y1 - N2 - In this paper, a smooth adaptive control methodology combining the results of a variable structure control scheme and backstepping is proposed for the class of systems in the Special Strict Feedback form. An application of this methodology for the case of friction compensation in drives containing a compliant transmission between the load and the actuator is presented. The friction model considered is a six parameter dynamic model.

Variable structure control

Recommended Variable structure control Citing articles 0 Cezary Zielinski received: In the title of professor was conferred upon him.

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He also worked for Nanyang Technological University, Singapore — His research interests focus on robotics in general and especially include: He is currently finishing his Ph. His main research interests include utilisation of the visual and 3-dimensional information in both robotics and computer entertainment systems.

His works on data acquisition methods, image segmentation and object recognition covers full spectrum of the topic and aim at creating versatile system for integrated colour- and depth-image based object recognition system. In he received the Ph.

Variable structure control

During last several years Dr. Kornuta organised several special sessions devoted to robot perception and intelligence and served as reviewer for numerous journals and conferences. Maksym Figat received M.

Sincehe is Ph. His main scientific interests focus on automatic methods of robot control system generation based on a formal specification. His research in robotics is based on Model Driven Engineering, Domain Specific Language, Embodied Agent approach and the formal specification for robot control systems.

Wojciech Dudek is a Ph. He received his M. His research interests focus on mobile robotics especially on the autonomous navigation and localisation algorithms. His current research activities include also service mobile manipulator control and human aware navigation.

Variable structure control

Wojciech Szynkiewicz received Ph. His research activities concentrate on multi-robot systems, motion planning, autonomous mobile robots, robot controller structures, and real-time and distributed systems.

Variable Structure and Lyapunov Control (eBook, ) [rutadeltambor.com]

He works on sensor based motion planning and control algorithms for robot systems, including service, personal and mobile robots. In he was awarded the Professor title in Poland. His research interests are in pattern recognition and artificial intelligence methods and their applications for image and speech analysis, robot perception and agent task planning.

He is the author of 3 books and over papers and research reports. He received his Ph. His research interests are on software modelling, semantics of models and model-driven development.

Tomasz Winiarski His scientific interests focus on manipulator and gripper control programming frameworks, force control, force and visual sensor data fusion for control purposes and specialised mobile robots design.

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Konrad Banachowicz is a student at Warsaw University of Technology. His scientific interest include robot control frameworks, real-time and embedded systems and whole-body control of service robots. She is full professor at WUT. Her main research experience includes development of control and navigation systems for waking machines, design and motion synthesis of walking machines and humanoidal robots.

Her research interest focuses on biorobotics and robot—human interactions. She is the local leader of European Master on Advanced Robotics—the international studies supported by European Union. She is the author or co-author of over publications.

In addition, from he is the head manager of the AI group of the robotics team P. He received his diploma and Ph.This book systematizes recent research work on variable-structure control. It is self-contained, presenting necessary mathematical preliminaries so that the theoretical developments can be easily understood by a broad rutadeltambor.com: Xing-Gang Yan.

A globally neural-adaptive simultaneous position and torque variable structure tracking control (GNASPTVSTC) for the permanent magnet synchronous motors (PMSMs) subjected to excess uncertainties (e.g., time-varying system parameters, friction and load torques for different operating conditions, the avoidance of zero control gain, the similar convergence of position and torque) is .

This paper presents a method of designing variable structure control systems for robots. As the on-board robot computational resources are limited, but in some cases the demands imposed on the robot by the user are virtually limitless, the solution is to produce a variable structure system.

Variable-Structure and Constraint Control INTRODUCTION To this point we have made the assumption that the multivariable process has the same number of manipulated and controlled variables.

Variable structure control for methane fermentation systems — Arizona State University

This paper presents a method of designing variable structure control systems for robots. As the on-board robot computational resources are limited, but in some cases the demands imposed on the robot by the user are virtually limitless, the solution is to produce a variable structure system.

Variable structure control has been applied to the a variety of flight problems, including (1) control of lateral motion of an aircraft [15], (2) realization of asymptotically decoupled control of roll angle, angle of attack, and sideslip in .

Variable Structure and Sliding Mode Control | IEEE Control Systems Society