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This paper presents a new approach for the design of variable structure control (VSC) of nonlinear systems. The approach is based on a new method called the reaching law method, and is complemented by a sliding mode equivalence technique. They facilitate the design of the system dynamics in all three modes of a VSC system including the sliding, reaching,(More)
A tutorial account of variable structure control with sliding mode is presented in this paper. The purpose is to introduce in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach. This approach is particularly attractive for the control of nonlinear systems. Prominent(More)
Abotrut. A hierarchical control strategy is developed in thispaper for robotic systems (multiple robots systems) holding a rig. id body to track a given motion in the presence o f enviromrntal con. draintl. New mathematical formulation to the enviromental con. dralnts is introduced which is simple enough in many caws. The control b constructed following a(More)
In this work an Exponential reaching law based Sliding mode controller (SMC) controller has been proposed for the outer loop speed control of the 3-Phase Brushless DC(BLDC) motor drive. The robust hysteresis controller is employed to control the inner loop current performance of the drive. The developed SMC control scheme is simulated on MATLAB/SIMULINK(More)
Recently, the inertial parameter regrouping method was presented to reduce the computational burden of the robot inverse dynamics algorithm. This paper describes how to apply the method to two widely used forward dynamics algorithms (i.e. Featherstone's articulated-body inertias algorithm and Walker & Orin's composite body algorithm) to increase their(More)
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